{
    "0": {
        "acceleration": [
            0.00323376152664423,
            0.004432701505720615,
            -0.46802908182144165
        ],
        "angular_velocity": [
            0.00026376143796369433,
            -0.03080706298351288,
            -0.00012392998905852437
        ],
        "forward_vector": [
            -0.9871125817298889,
            -0.15972617268562317,
            -0.009809216484427452
        ],
        "right_vector": [
            0.1597336232662201,
            -0.9871601462364197,
            2.396729360043537e-05
        ],
        "location": [
            3041.2890625,
            4270.37841796875,
            361.6891784667969
        ],
        "rotation": [
            -0.0013732908992096782,
            -0.5620357394218445,
            -170.8085479736328
        ],
        "velocity": [
            -0.0009956789435818791,
            -0.0001391196419717744,
            0.09137053042650223
        ],
        "speed": 0.0010053510996038556,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 110.36319732666016,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.71343994140625
            ],
            "velocity": [
                -0.0019226723816245794,
                -0.0007519387872889638,
                0.19042380154132843
            ],
            "speed_kmh": 0.6855659721115368,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4517703354358673,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23291015625,
                        "z": 360.50592041015625
                    },
                    "rotation": {
                        "roll": -0.228973388671875,
                        "pitch": -0.27048230171203613,
                        "yaw": -170.8090057373047
                    }
                },
                "velocity": {
                    "x": -0.003142094938084483,
                    "y": 0.011578351259231567,
                    "z": 0.4516110122203827
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.23036712408065796,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6310119628906
                    },
                    "rotation": {
                        "roll": -0.007934571243822575,
                        "pitch": -0.3630313575267792,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -0.0022514420561492443,
                    "y": -0.0007431417470797896,
                    "z": 0.2303549200296402
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.190434992313385,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.71343994140625
                    },
                    "rotation": {
                        "roll": -0.01031493954360485,
                        "pitch": -0.3865955173969269,
                        "yaw": -170.80848693847656
                    }
                },
                "velocity": {
                    "x": -0.0019226723816245794,
                    "y": -0.0007519387872889638,
                    "z": 0.19042380154132843
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0006543163326568902,
        "expert_target_speed": 1.2902005635001108,
        "target_point": [
            51.000943531532585,
            -0.000606280313292018
        ],
        "target_point_next": [
            102.00100103477916,
            -0.0005745584542466986
        ]
    },
    "5": {
        "acceleration": [
            0.0029113278724253178,
            0.0006743832491338253,
            -0.15537448227405548
        ],
        "angular_velocity": [
            0.0016140616498887539,
            0.0043358271941542625,
            -5.979771231068298e-05
        ],
        "forward_vector": [
            -0.9871120452880859,
            -0.1597260981798172,
            -0.009860951453447342
        ],
        "right_vector": [
            0.1597338169813156,
            -0.9871600866317749,
            4.26091673944029e-06
        ],
        "location": [
            3041.28857421875,
            4270.37841796875,
            361.701904296875
        ],
        "rotation": [
            -0.00024414443760178983,
            -0.565000057220459,
            -170.8085479736328
        ],
        "velocity": [
            -0.0002510163758415729,
            -4.560582237900235e-05,
            0.02564471960067749
        ],
        "speed": 0.00025512567878499195,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.99982738494873,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3026.481689453125,
                4267.98291015625,
                361.5899963378906
            ],
            "velocity": [
                0.005942147690802813,
                0.0009781555272638798,
                -0.6354828476905823
            ],
            "speed_kmh": 2.2878409722679267,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2961.61767578125,
                        "y": 4267.36376953125,
                        "z": 361.134765625
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2962.137451171875,
                        "y": 4264.1552734375,
                        "z": 361.134765625
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6355113983154297,
                "transform": {
                    "location": {
                        "x": 3026.481689453125,
                        "y": 4267.98291015625,
                        "z": 361.5899963378906
                    },
                    "rotation": {
                        "roll": 0.00012723820691462606,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.80838012695312
                    }
                },
                "velocity": {
                    "x": 0.005942147690802813,
                    "y": 0.0009781555272638798,
                    "z": -0.6354828476905823
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5035233497619629,
                "transform": {
                    "location": {
                        "x": 3011.673583984375,
                        "y": 4265.5869140625,
                        "z": 361.4106140136719
                    },
                    "rotation": {
                        "roll": 1.375436841044575e-05,
                        "pitch": -0.5392502546310425,
                        "yaw": -170.80831909179688
                    }
                },
                "velocity": {
                    "x": 0.004667690489441156,
                    "y": 0.0007396687287837267,
                    "z": -0.5035011768341064
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43407824635505676,
                "transform": {
                    "location": {
                        "x": 3025.9619140625,
                        "y": 4271.19091796875,
                        "z": 361.5738830566406
                    },
                    "rotation": {
                        "roll": 0.0001338552829110995,
                        "pitch": -0.5546591281890869,
                        "yaw": -170.80831909179688
                    }
                },
                "velocity": {
                    "x": 0.003935683518648148,
                    "y": 0.000843650836031884,
                    "z": -0.43405959010124207
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6354901790618896,
                "transform": {
                    "location": {
                        "x": 3011.155029296875,
                        "y": 4268.79541015625,
                        "z": 361.4472961425781
                    },
                    "rotation": {
                        "roll": -0.0001831026456784457,
                        "pitch": -0.5436147451400757,
                        "yaw": -170.80831909179688
                    }
                },
                "velocity": {
                    "x": 0.005830597598105669,
                    "y": 0.0009891089284792542,
                    "z": -0.6354626417160034
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3251858651638031,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23388671875,
                        "z": 360.6285095214844
                    },
                    "rotation": {
                        "roll": -0.0926208421587944,
                        "pitch": -0.32940635085105896,
                        "yaw": -170.80856323242188
                    }
                },
                "velocity": {
                    "x": -0.00209799874573946,
                    "y": -0.009914766997098923,
                    "z": 0.3250279128551483
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.056672353297472,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6632080078125
                    },
                    "rotation": {
                        "roll": -0.0012207062682136893,
                        "pitch": -0.4026122987270355,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -0.0006512504769489169,
                    "y": -0.00012264274118933827,
                    "z": 0.0566684789955616
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.039306823164224625,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7379150390625
                    },
                    "rotation": {
                        "roll": -0.0023193336091935635,
                        "pitch": -0.414790540933609,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": -0.0003704605042003095,
                    "y": -0.00045210443204268813,
                    "z": 0.03930247575044632
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0003087703662458807,
        "expert_target_speed": 0.9960455063700702,
        "target_point": [
            51.00046151978371,
            -0.0005282851015575574
        ],
        "target_point_next": [
            102.0005190230303,
            -0.0004965632425104616
        ]
    },
    "10": {
        "acceleration": [
            -0.00010968302376568317,
            -0.0026585999876260757,
            -0.04257388412952423
        ],
        "angular_velocity": [
            0.014652319252490997,
            -0.005602875258773565,
            3.2903099054237828e-06
        ],
        "forward_vector": [
            -0.9871119856834412,
            -0.1597260683774948,
            -0.009876448661088943
        ],
        "right_vector": [
            0.15973365306854248,
            -0.9871601462364197,
            2.0771634808625095e-05
        ],
        "location": [
            3041.28857421875,
            4270.37841796875,
            361.7052001953125
        ],
        "rotation": [
            -0.0011901850812137127,
            -0.565887987613678,
            -170.8085479736328
        ],
        "velocity": [
            -9.357444650959224e-05,
            -6.257885979721323e-05,
            0.005942227318882942
        ],
        "speed": 0.00011257126957219505,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.99966812133789,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3026.482421875,
                4267.98291015625,
                361.5336608886719
            ],
            "velocity": [
                -0.0005980795249342918,
                -5.6321918236790225e-05,
                0.06121698394417763
            ],
            "speed_kmh": 0.2203917528599885,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2963.671142578125,
                        "y": 4267.6962890625,
                        "z": 361.0550842285156
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2964.191162109375,
                        "y": 4264.48779296875,
                        "z": 361.0550842285156
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.06121993064880371,
                "transform": {
                    "location": {
                        "x": 3026.482421875,
                        "y": 4267.98291015625,
                        "z": 361.5336608886719
                    },
                    "rotation": {
                        "roll": 0.00012135158613091335,
                        "pitch": -0.5546591281890869,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.0005980795249342918,
                    "y": -5.6321918236790225e-05,
                    "z": 0.06121698394417763
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10331079363822937,
                "transform": {
                    "location": {
                        "x": 3011.674072265625,
                        "y": 4265.5869140625,
                        "z": 361.4022216796875
                    },
                    "rotation": {
                        "roll": 0.0012856300454586744,
                        "pitch": -0.5400015711784363,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.0009856348624452949,
                    "y": -0.00013377117284107953,
                    "z": 0.10330600291490555
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027171744033694267,
                "transform": {
                    "location": {
                        "x": 3025.962158203125,
                        "y": 4271.19091796875,
                        "z": 361.5498046875
                    },
                    "rotation": {
                        "roll": -0.0004577577637974173,
                        "pitch": -0.5580469369888306,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -0.0003066907811444253,
                    "y": -1.142324890679447e-05,
                    "z": 0.027170011773705482
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.061023470014333725,
                "transform": {
                    "location": {
                        "x": 3011.1552734375,
                        "y": 4268.79541015625,
                        "z": 361.3909606933594
                    },
                    "rotation": {
                        "roll": -0.0012512218672782183,
                        "pitch": -0.545342743396759,
                        "yaw": -170.808349609375
                    }
                },
                "velocity": {
                    "x": -0.0005858115619048476,
                    "y": -6.742466212017462e-05,
                    "z": 0.0610206201672554
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.05685599893331528,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6523742675781
                    },
                    "rotation": {
                        "roll": 0.0185374952852726,
                        "pitch": -0.42687997221946716,
                        "yaw": -170.80848693847656
                    }
                },
                "velocity": {
                    "x": 0.0002973920782096684,
                    "y": -0.0009015798568725586,
                    "z": -0.05684807151556015
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.008419835940003395,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6694030761719
                    },
                    "rotation": {
                        "roll": 0.00011138366244267672,
                        "pitch": -0.41259804368019104,
                        "yaw": -170.80848693847656
                    }
                },
                "velocity": {
                    "x": -0.00010654978541424498,
                    "y": -5.260106991045177e-05,
                    "z": 0.008418997749686241
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.006377216894179583,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.74224853515625
                    },
                    "rotation": {
                        "roll": 0.0003674694162327796,
                        "pitch": -0.42099234461784363,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -0.00010093949822476134,
                    "y": -9.142316412180662e-05,
                    "z": 0.0063757626339793205
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0008002363028936088,
        "expert_target_speed": 0.9751308277391191,
        "target_point": [
            51.00046152002982,
            -0.0005039661864216782
        ],
        "target_point_next": [
            102.00051902325548,
            -0.00044792560489170796
        ]
    },
    "15": {
        "acceleration": [
            -0.0008154003880918026,
            0.0009523117332719266,
            0.0027631642296910286
        ],
        "angular_velocity": [
            -0.010381780564785004,
            -0.010636375285685062,
            -0.00024740296066738665
        ],
        "forward_vector": [
            -0.9871121048927307,
            -0.1597253680229187,
            -0.009875374846160412
        ],
        "right_vector": [
            0.15973298251628876,
            -0.9871602058410645,
            1.8641234419192187e-05
        ],
        "location": [
            3041.28857421875,
            4270.37841796875,
            361.7057189941406
        ],
        "rotation": [
            -0.0010681161656975746,
            -0.5658264756202698,
            -170.80859375
        ],
        "velocity": [
            -7.768548675812781e-05,
            3.7351266655605286e-05,
            0.002358911093324423
        ],
        "speed": 8.619832929718176e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.007610321044922,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3026.474365234375,
                4267.98095703125,
                361.5651550292969
            ],
            "velocity": [
                -0.09401258081197739,
                -0.017088310793042183,
                0.11124002188444138
            ],
            "speed_kmh": 0.5279215355377992,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2965.7265625,
                        "y": 4268.0283203125,
                        "z": 361.03076171875
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2966.24658203125,
                        "y": 4264.81982421875,
                        "z": 361.03076171875
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.14664487540721893,
                "transform": {
                    "location": {
                        "x": 3026.474365234375,
                        "y": 4267.98095703125,
                        "z": 361.5651550292969
                    },
                    "rotation": {
                        "roll": -0.001190182869322598,
                        "pitch": -0.538061797618866,
                        "yaw": -170.80526733398438
                    }
                },
                "velocity": {
                    "x": -0.09401258081197739,
                    "y": -0.017088310793042183,
                    "z": 0.11124002188444138
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.02281876839697361,
                "transform": {
                    "location": {
                        "x": 3011.673583984375,
                        "y": 4265.5869140625,
                        "z": 361.41754150390625
                    },
                    "rotation": {
                        "roll": 0.0005146482144482434,
                        "pitch": -0.5395780801773071,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -0.0002523585280869156,
                    "y": 8.134049858199432e-05,
                    "z": 0.022817227989435196
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.891526460647583,
                "transform": {
                    "location": {
                        "x": 3025.892333984375,
                        "y": 4271.17919921875,
                        "z": 361.55426025390625
                    },
                    "rotation": {
                        "roll": -0.010162352584302425,
                        "pitch": -0.3384358584880829,
                        "yaw": -170.7643585205078
                    }
                },
                "velocity": {
                    "x": -0.8779968023300171,
                    "y": -0.15374673902988434,
                    "z": 0.017407206818461418
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.14608298242092133,
                "transform": {
                    "location": {
                        "x": 3011.1474609375,
                        "y": 4268.79345703125,
                        "z": 361.4224548339844
                    },
                    "rotation": {
                        "roll": -0.0015258818166330457,
                        "pitch": -0.5291142463684082,
                        "yaw": -170.80596923828125
                    }
                },
                "velocity": {
                    "x": -0.09370516240596771,
                    "y": -0.017212271690368652,
                    "z": 0.11073985695838928
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.05903202295303345,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6329345703125
                    },
                    "rotation": {
                        "roll": 0.006382583174854517,
                        "pitch": -0.4200429618358612,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0004528626741375774,
                    "y": 0.000766099663451314,
                    "z": -0.05902531370520592
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0010441906051710248,
        "expert_target_speed": 0.9723123873710511,
        "target_point": [
            51.00046152048725,
            -0.0004553283561445909
        ],
        "target_point_next": [
            102.00051902363627,
            -0.00035065032963288445
        ]
    },
    "20": {
        "acceleration": [
            0.00041604929720051587,
            -0.00043239910155534744,
            -0.02720128558576107
        ],
        "angular_velocity": [
            0.01743040420114994,
            -0.004526310600340366,
            4.727601844933815e-05
        ],
        "forward_vector": [
            -0.9871121048927307,
            -0.1597248762845993,
            -0.009887056425213814
        ],
        "right_vector": [
            0.1597326695919037,
            -0.987160325050354,
            1.5978002920746803e-06
        ],
        "location": [
            3041.28857421875,
            4270.37841796875,
            361.7059631347656
        ],
        "rotation": [
            -9.155168663710356e-05,
            -0.5664958357810974,
            -170.80862426757812
        ],
        "velocity": [
            -3.5111905162921175e-05,
            -5.87300855841022e-05,
            0.000196530221728608
        ],
        "speed": 6.842564458509645e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.13435173034668,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3026.349365234375,
                4267.95947265625,
                361.57427978515625
            ],
            "velocity": [
                -0.8651946783065796,
                -0.15319576859474182,
                -0.012099770829081535
            ],
            "speed_kmh": 3.1634500540137513,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2967.78271484375,
                        "y": 4268.361328125,
                        "z": 361.041015625
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2968.302978515625,
                        "y": 4265.1533203125,
                        "z": 361.0410461425781
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.878736138343811,
                "transform": {
                    "location": {
                        "x": 3026.349365234375,
                        "y": 4267.95947265625,
                        "z": 361.57427978515625
                    },
                    "rotation": {
                        "roll": -0.008911130018532276,
                        "pitch": -0.39192989468574524,
                        "yaw": -170.78652954101562
                    }
                },
                "velocity": {
                    "x": -0.8651946783065796,
                    "y": -0.15319576859474182,
                    "z": -0.012099770829081535
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.973306655883789,
                "transform": {
                    "location": {
                        "x": 3011.46826171875,
                        "y": 4265.55126953125,
                        "z": 361.416748046875
                    },
                    "rotation": {
                        "roll": -0.002655029995366931,
                        "pitch": -0.4991775155067444,
                        "yaw": -170.70005798339844
                    }
                },
                "velocity": {
                    "x": -1.9427998065948486,
                    "y": -0.34509363770484924,
                    "z": -0.019459575414657593
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8563953638076782,
                "transform": {
                    "location": {
                        "x": 3025.53515625,
                        "y": 4271.11669921875,
                        "z": 361.55474853515625
                    },
                    "rotation": {
                        "roll": -0.018432611599564552,
                        "pitch": -0.17968860268592834,
                        "yaw": -170.601318359375
                    }
                },
                "velocity": {
                    "x": -1.8279452323913574,
                    "y": -0.3236798644065857,
                    "z": -0.0071579166688025
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8188955783843994,
                "transform": {
                    "location": {
                        "x": 3011.029296875,
                        "y": 4268.7734375,
                        "z": 361.43170166015625
                    },
                    "rotation": {
                        "roll": -0.009002682752907276,
                        "pitch": -0.38946419954299927,
                        "yaw": -170.74215698242188
                    }
                },
                "velocity": {
                    "x": -0.8061444163322449,
                    "y": -0.14348790049552917,
                    "z": -0.011502046138048172
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006590847857296467,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6277160644531
                    },
                    "rotation": {
                        "roll": -0.0014648458454757929,
                        "pitch": -0.40796035528182983,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -2.8007103537674993e-05,
                    "y": 1.0862946737688617e-06,
                    "z": 0.0065907882526516914
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -2.5906310838763602e-05,
        "expert_target_speed": 0.978391933897769,
        "target_point": [
            51.00046152069857,
            -0.00043100944100515903
        ],
        "target_point_next": [
            102.00051902379188,
            -0.0003020126920034727
        ]
    },
    "25": {
        "acceleration": [
            0.00015939025615807623,
            0.0019306992180645466,
            -0.006379892583936453
        ],
        "angular_velocity": [
            -0.003502847161144018,
            -0.0047233859077095985,
            -0.0001800371683202684
        ],
        "forward_vector": [
            -0.987112283706665,
            -0.159723699092865,
            -0.0098887262865901
        ],
        "right_vector": [
            0.15973152220249176,
            -0.9871605038642883,
            -1.3342942111194134e-06
        ],
        "location": [
            3041.28857421875,
            4270.37841796875,
            361.70599365234375
        ],
        "rotation": [
            7.645316509297118e-05,
            -0.5665915012359619,
            -170.80868530273438
        ],
        "velocity": [
            -4.830427496926859e-05,
            1.378418892272748e-05,
            0.001342068426311016
        ],
        "speed": 5.023252775407735e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.444169044494629,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3026.044189453125,
                4267.90625,
                361.56646728515625
            ],
            "velocity": [
                -1.65409255027771,
                -0.29478731751441956,
                -0.03524910286068916
            ],
            "speed_kmh": 6.04988994760107,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2969.83935546875,
                        "y": 4268.6943359375,
                        "z": 361.05279541015625
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2970.359375,
                        "y": 4265.486328125,
                        "z": 361.0528564453125
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6805249452590942,
                "transform": {
                    "location": {
                        "x": 3026.044189453125,
                        "y": 4267.90625,
                        "z": 361.56646728515625
                    },
                    "rotation": {
                        "roll": -0.009643551893532276,
                        "pitch": -0.3748475909233093,
                        "yaw": -170.60902404785156
                    }
                },
                "velocity": {
                    "x": -1.65409255027771,
                    "y": -0.29478731751441956,
                    "z": -0.03524910286068916
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0101499557495117,
                "transform": {
                    "location": {
                        "x": 3010.83740234375,
                        "y": 4265.44091796875,
                        "z": 361.4105529785156
                    },
                    "rotation": {
                        "roll": -0.004821770824491978,
                        "pitch": -0.5060350298881531,
                        "yaw": -170.445556640625
                    }
                },
                "velocity": {
                    "x": -2.9630074501037598,
                    "y": -0.5299131870269775,
                    "z": -0.027962803840637207
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.05340576171875,
                "transform": {
                    "location": {
                        "x": 3024.930908203125,
                        "y": 4271.01123046875,
                        "z": 361.5500183105469
                    },
                    "rotation": {
                        "roll": -0.00604248046875,
                        "pitch": -0.09048634022474289,
                        "yaw": -170.40728759765625
                    }
                },
                "velocity": {
                    "x": -3.010014533996582,
                    "y": -0.5122649669647217,
                    "z": -0.026131844148039818
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.831085443496704,
                "transform": {
                    "location": {
                        "x": 3010.725830078125,
                        "y": 4268.720703125,
                        "z": 361.4236145019531
                    },
                    "rotation": {
                        "roll": -0.012054442428052425,
                        "pitch": -0.324003666639328,
                        "yaw": -170.58909606933594
                    }
                },
                "velocity": {
                    "x": -1.8025766611099243,
                    "y": -0.31975334882736206,
                    "z": -0.036730945110321045
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0009673426975496113,
        "expert_target_speed": 0.9952265969887173,
        "target_point": [
            51.00046152108642,
            -0.00038237161072629533
        ],
        "target_point_next": [
            102.00051902403352,
            -0.0002047374167517546
        ]
    },
    "30": {
        "acceleration": [
            -6.872314929962158,
            -1.0802769660949707,
            -0.07519721239805222
        ],
        "angular_velocity": [
            -0.24561315774917603,
            1.7698473930358887,
            -1.2052940130233765
        ],
        "forward_vector": [
            -0.9871950745582581,
            -0.15931324660778046,
            -0.008075625635683537
        ],
        "right_vector": [
            0.159318745136261,
            -0.987227201461792,
            -3.760709296329878e-05
        ],
        "location": [
            3041.264404296875,
            4270.375,
            361.7054748535156
        ],
        "rotation": [
            0.002154798014089465,
            -0.46270430088043213,
            -170.83265686035156
        ],
        "velocity": [
            -0.5287163257598877,
            -0.08305662125349045,
            -0.005560149904340506
        ],
        "speed": 0.5352002947113178,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.010120391845703,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3025.462646484375,
                4267.8046875,
                361.55755615234375
            ],
            "velocity": [
                -3.1354191303253174,
                -0.5347039103507996,
                -0.030522899702191353
            ],
            "speed_kmh": 11.450995669539388,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.003781795501709,
                "transform": {
                    "location": {
                        "x": 2971.856201171875,
                        "y": 4269.02001953125,
                        "z": 361.06939697265625
                    },
                    "rotation": {
                        "roll": -0.00024414449580945075,
                        "pitch": 0.4805174469947815,
                        "yaw": 9.191052436828613
                    }
                },
                "velocity": {
                    "x": 6.914312362670898,
                    "y": 1.1153218746185303,
                    "z": 0.036059990525245667
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.632436275482178,
                "transform": {
                    "location": {
                        "x": 2972.29638671875,
                        "y": 4265.7998046875,
                        "z": 361.0679931640625
                    },
                    "rotation": {
                        "roll": -0.0020141585264354944,
                        "pitch": 0.465743750333786,
                        "yaw": 9.21064567565918
                    }
                },
                "velocity": {
                    "x": 6.544675827026367,
                    "y": 1.0748974084854126,
                    "z": 0.032002534717321396
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1808321475982666,
                "transform": {
                    "location": {
                        "x": 3025.462646484375,
                        "y": 4267.8046875,
                        "z": 361.55755615234375
                    },
                    "rotation": {
                        "roll": -0.005645751021802425,
                        "pitch": -0.2520476281642914,
                        "yaw": -170.4855194091797
                    }
                },
                "velocity": {
                    "x": -3.1354191303253174,
                    "y": -0.5347039103507996,
                    "z": -0.030522899702191353
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.814878463745117,
                "transform": {
                    "location": {
                        "x": 3009.990966796875,
                        "y": 4265.29638671875,
                        "z": 361.4024658203125
                    },
                    "rotation": {
                        "roll": -0.0033874528016895056,
                        "pitch": -0.5136370062828064,
                        "yaw": -170.37550354003906
                    }
                },
                "velocity": {
                    "x": -3.76019549369812,
                    "y": -0.6426636576652527,
                    "z": -0.03479931131005287
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.475011825561523,
                "transform": {
                    "location": {
                        "x": 3023.989990234375,
                        "y": 4270.85107421875,
                        "z": 361.5408935546875
                    },
                    "rotation": {
                        "roll": -0.001983642578125,
                        "pitch": 0.024957509711384773,
                        "yaw": -170.36997985839844
                    }
                },
                "velocity": {
                    "x": -4.411105632781982,
                    "y": -0.75240558385849,
                    "z": -0.042002223432064056
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.211232900619507,
                "transform": {
                    "location": {
                        "x": 3010.116455078125,
                        "y": 4268.6142578125,
                        "z": 361.4146728515625
                    },
                    "rotation": {
                        "roll": -0.006072996649891138,
                        "pitch": -0.22265732288360596,
                        "yaw": -170.43328857421875
                    }
                },
                "velocity": {
                    "x": -3.1650853157043457,
                    "y": -0.54160076379776,
                    "z": -0.03033454343676567
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0008711196132935584,
        "expert_target_speed": 1.5443444299306626,
        "target_point": [
            50.9760514707132,
            0.021421721185760134
        ],
        "target_point_next": [
            101.97610443993914,
            0.04292687436446485
        ]
    },
    "35": {
        "acceleration": [
            -1.6150307655334473,
            -0.23963004350662231,
            -0.0007959268987178802
        ],
        "angular_velocity": [
            0.05323363095521927,
            -0.15600839257240295,
            -0.03412095457315445
        ],
        "forward_vector": [
            -0.9872555732727051,
            -0.15903683006763458,
            -0.005805578548461199
        ],
        "right_vector": [
            0.1590399444103241,
            -0.9872721433639526,
            -7.462422217940912e-05
        ],
        "location": [
            3041.04736328125,
            4270.3408203125,
            361.702880859375
        ],
        "rotation": [
            0.004275725223124027,
            -0.3326370120048523,
            -170.84884643554688
        ],
        "velocity": [
            -1.0628244876861572,
            -0.16600441932678223,
            -0.009719066321849823
        ],
        "speed": 1.0757106297054821,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.848102569580078,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3024.419921875,
                4267.62744140625,
                361.5467834472656
            ],
            "velocity": [
                -5.076790809631348,
                -0.8658326268196106,
                -0.04338753968477249
            ],
            "speed_kmh": 18.540997327319058,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.655994892120361,
                "transform": {
                    "location": {
                        "x": 2973.528564453125,
                        "y": 4269.29736328125,
                        "z": 361.07806396484375
                    },
                    "rotation": {
                        "roll": -0.004913335666060448,
                        "pitch": 0.4797593057155609,
                        "yaw": 9.45777702331543
                    }
                },
                "velocity": {
                    "x": 6.560091495513916,
                    "y": 1.1248770952224731,
                    "z": 0.04604340344667435
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.81935977935791,
                "transform": {
                    "location": {
                        "x": 2973.95556640625,
                        "y": 4266.078125,
                        "z": 361.0783996582031
                    },
                    "rotation": {
                        "roll": -0.0006713876500725746,
                        "pitch": 0.49240195751190186,
                        "yaw": 9.568653106689453
                    }
                },
                "velocity": {
                    "x": 6.719223976135254,
                    "y": 1.1631253957748413,
                    "z": 0.05326952785253525
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.150277137756348,
                "transform": {
                    "location": {
                        "x": 3024.419921875,
                        "y": 4267.62744140625,
                        "z": 361.5467834472656
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.0826726034283638,
                        "yaw": -170.41409301757812
                    }
                },
                "velocity": {
                    "x": -5.076790809631348,
                    "y": -0.8658326268196106,
                    "z": -0.04338753968477249
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.572943687438965,
                "transform": {
                    "location": {
                        "x": 3008.954345703125,
                        "y": 4265.119140625,
                        "z": 361.3927001953125
                    },
                    "rotation": {
                        "roll": -0.004333493299782276,
                        "pitch": -0.5154675245285034,
                        "yaw": -170.33973693847656
                    }
                },
                "velocity": {
                    "x": -4.507394313812256,
                    "y": -0.7703493237495422,
                    "z": -0.04209163412451744
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.391932010650635,
                "transform": {
                    "location": {
                        "x": 3022.7353515625,
                        "y": 4270.63671875,
                        "z": 361.5293273925781
                    },
                    "rotation": {
                        "roll": -0.0075683570466935635,
                        "pitch": -0.03650052845478058,
                        "yaw": -170.3041534423828
                    }
                },
                "velocity": {
                    "x": -5.314497470855713,
                    "y": -0.9091029763221741,
                    "z": -0.050810620188713074
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.238006114959717,
                "transform": {
                    "location": {
                        "x": 3009.064697265625,
                        "y": 4268.43505859375,
                        "z": 361.4042053222656
                    },
                    "rotation": {
                        "roll": 0.0015272737946361303,
                        "pitch": -0.07324011623859406,
                        "yaw": -170.38021850585938
                    }
                },
                "velocity": {
                    "x": -5.163175106048584,
                    "y": -0.8811944127082825,
                    "z": -0.04277010262012482
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.003999622538685799,
        "expert_target_speed": 2.1108036493695645,
        "target_point": [
            50.75632888955094,
            0.0366093463058883
        ],
        "target_point_next": [
            101.75637373901135,
            0.07253549958604033
        ]
    },
    "40": {
        "acceleration": [
            -3.1333518028259277,
            -0.46962201595306396,
            -0.03615550696849823
        ],
        "angular_velocity": [
            0.025318289175629616,
            0.2414393275976181,
            -0.14239747822284698
        ],
        "forward_vector": [
            -0.9874897599220276,
            -0.15756453573703766,
            -0.0061225504614412785
        ],
        "right_vector": [
            0.15756823122501373,
            -0.9875081181526184,
            -0.0001230071356985718
        ],
        "location": [
            3040.725830078125,
            4270.29052734375,
            361.6997985839844
        ],
        "rotation": [
            0.007047921884804964,
            -0.35079848766326904,
            -170.93426513671875
        ],
        "velocity": [
            -1.5458556413650513,
            -0.23987112939357758,
            -0.014945182017982006
        ],
        "speed": 1.5643554016452605,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.890762329101562,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3023.0712890625,
                4267.3974609375,
                361.5362854003906
            ],
            "velocity": [
                -5.947990417480469,
                -1.0123270750045776,
                -0.05765492841601372
            ],
            "speed_kmh": 21.72167336656656,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.840436935424805,
                "transform": {
                    "location": {
                        "x": 2975.1923828125,
                        "y": 4269.5830078125,
                        "z": 361.0915222167969
                    },
                    "rotation": {
                        "roll": 0.0030960915610194206,
                        "pitch": 0.5080840587615967,
                        "yaw": 9.842142105102539
                    }
                },
                "velocity": {
                    "x": 6.7397637367248535,
                    "y": 1.167729139328003,
                    "z": 0.05977005884051323
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.5527143478393555,
                "transform": {
                    "location": {
                        "x": 2975.6015625,
                        "y": 4266.36279296875,
                        "z": 361.0924377441406
                    },
                    "rotation": {
                        "roll": 0.004662854131311178,
                        "pitch": 0.50749671459198,
                        "yaw": 9.852507591247559
                    }
                },
                "velocity": {
                    "x": 6.455946445465088,
                    "y": 1.120482325553894,
                    "z": 0.057792890816926956
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.0337982177734375,
                "transform": {
                    "location": {
                        "x": 3023.0712890625,
                        "y": 4267.3974609375,
                        "z": 361.5362854003906
                    },
                    "rotation": {
                        "roll": -0.003906248603016138,
                        "pitch": -0.31951624155044556,
                        "yaw": -170.3906707763672
                    }
                },
                "velocity": {
                    "x": -5.947990417480469,
                    "y": -1.0123270750045776,
                    "z": -0.05765492841601372
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.20314884185791,
                "transform": {
                    "location": {
                        "x": 3007.728759765625,
                        "y": 4264.90966796875,
                        "z": 361.3814392089844
                    },
                    "rotation": {
                        "roll": -0.005218506325036287,
                        "pitch": -0.5167515873908997,
                        "yaw": -170.31515502929688
                    }
                },
                "velocity": {
                    "x": -5.128536224365234,
                    "y": -0.8767232298851013,
                    "z": -0.047211986035108566
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.33515739440918,
                "transform": {
                    "location": {
                        "x": 3021.350830078125,
                        "y": 4270.400390625,
                        "z": 361.5162048339844
                    },
                    "rotation": {
                        "roll": -0.008300778456032276,
                        "pitch": -0.13999155163764954,
                        "yaw": -170.26109313964844
                    }
                },
                "velocity": {
                    "x": -6.243818759918213,
                    "y": -1.0701655149459839,
                    "z": -0.0607544407248497
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.2755303382873535,
                "transform": {
                    "location": {
                        "x": 3007.697998046875,
                        "y": 4268.203125,
                        "z": 361.39361572265625
                    },
                    "rotation": {
                        "roll": -0.008178711868822575,
                        "pitch": -0.28149256110191345,
                        "yaw": -170.25172424316406
                    }
                },
                "velocity": {
                    "x": -6.18567419052124,
                    "y": -1.0565718412399292,
                    "z": -0.05806376412510872
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.007274906150996685,
        "expert_target_speed": 2.622058324145537,
        "target_point": [
            50.430776714937636,
            0.11326479402540102
        ],
        "target_point_next": [
            101.43071135548979,
            0.2252111868787967
        ]
    },
    "45": {
        "acceleration": [
            -0.714728832244873,
            -0.0851285457611084,
            -0.0025808438658714294
        ],
        "angular_velocity": [
            0.10890159755945206,
            -0.25282153487205505,
            -1.40364670753479
        ],
        "forward_vector": [
            -0.988071858882904,
            -0.1538592427968979,
            -0.006434157490730286
        ],
        "right_vector": [
            0.15386418998241425,
            -0.9880919456481934,
            -0.00027931947261095047
        ],
        "location": [
            3040.2900390625,
            4270.22314453125,
            361.69561767578125
        ],
        "rotation": [
            0.016004158183932304,
            -0.3686526119709015,
            -171.149169921875
        ],
        "velocity": [
            -1.899644374847412,
            -0.2880975604057312,
            -0.017962006852030754
        ],
        "speed": 1.9213664291855286,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.217798233032227,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3021.328369140625,
                4267.10107421875,
                361.5179748535156
            ],
            "velocity": [
                -7.524827480316162,
                -1.2866935729980469,
                -0.07378343492746353
            ],
            "speed_kmh": 27.483837546664176,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.586489677429199,
                "transform": {
                    "location": {
                        "x": 2976.84521484375,
                        "y": 4269.86669921875,
                        "z": 361.1064758300781
                    },
                    "rotation": {
                        "roll": 0.006724579259753227,
                        "pitch": 0.5084733963012695,
                        "yaw": 9.864126205444336
                    }
                },
                "velocity": {
                    "x": 6.491823196411133,
                    "y": 1.1111634969711304,
                    "z": 0.05825168639421463
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.82624626159668,
                "transform": {
                    "location": {
                        "x": 2977.2431640625,
                        "y": 4266.64501953125,
                        "z": 361.1072998046875
                    },
                    "rotation": {
                        "roll": 0.005924247205257416,
                        "pitch": 0.5109937191009521,
                        "yaw": 9.76783275604248
                    }
                },
                "velocity": {
                    "x": 6.729205131530762,
                    "y": 1.145323634147644,
                    "z": 0.06060797721147537
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.634398937225342,
                "transform": {
                    "location": {
                        "x": 3021.328369140625,
                        "y": 4267.10107421875,
                        "z": 361.5179748535156
                    },
                    "rotation": {
                        "roll": -0.00875854305922985,
                        "pitch": -0.17003755271434784,
                        "yaw": -170.30870056152344
                    }
                },
                "velocity": {
                    "x": -7.524827480316162,
                    "y": -1.2866935729980469,
                    "z": -0.07378343492746353
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.0909342765808105,
                "transform": {
                    "location": {
                        "x": 3006.364990234375,
                        "y": 4264.6767578125,
                        "z": 361.3684997558594
                    },
                    "rotation": {
                        "roll": -0.005065914709120989,
                        "pitch": -0.5164169073104858,
                        "yaw": -170.306884765625
                    }
                },
                "velocity": {
                    "x": -6.0035319328308105,
                    "y": -1.0265388488769531,
                    "z": -0.05744575336575508
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.5334367752075195,
                "transform": {
                    "location": {
                        "x": 3019.763427734375,
                        "y": 4270.12890625,
                        "z": 361.50128173828125
                    },
                    "rotation": {
                        "roll": 0.004113579168915749,
                        "pitch": -0.2811647355556488,
                        "yaw": -170.27911376953125
                    }
                },
                "velocity": {
                    "x": -6.442015171051025,
                    "y": -1.087459683418274,
                    "z": -0.06059074401855469
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.4519429206848145,
                "transform": {
                    "location": {
                        "x": 3005.978271484375,
                        "y": 4267.9091796875,
                        "z": 361.376708984375
                    },
                    "rotation": {
                        "roll": -0.0103759765625,
                        "pitch": -0.20871007442474365,
                        "yaw": -170.15965270996094
                    }
                },
                "velocity": {
                    "x": -7.3444504737854,
                    "y": -1.2591694593429565,
                    "z": -0.07069359719753265
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.018073605373501778,
        "expert_target_speed": 3.0063345475168046,
        "target_point": [
            49.989027718526984,
            0.30289084085517004
        ],
        "target_point_next": [
            100.98818372531792,
            0.6061266079788865
        ]
    },
    "50": {
        "acceleration": [
            -1.7441511154174805,
            -0.22825658321380615,
            -0.0326976552605629
        ],
        "angular_velocity": [
            -0.017491355538368225,
            0.004291025921702385,
            -0.30502811074256897
        ],
        "forward_vector": [
            -0.9886082410812378,
            -0.15034955739974976,
            -0.006980123929679394
        ],
        "right_vector": [
            0.15035571157932281,
            -0.9886319041252136,
            -0.00036306914989836514
        ],
        "location": [
            3039.771728515625,
            4270.14501953125,
            361.6907653808594
        ],
        "rotation": [
            0.02080283686518669,
            -0.39993488788604736,
            -171.35260009765625
        ],
        "velocity": [
            -2.23808217048645,
            -0.331108033657074,
            -0.022176355123519897
        ],
        "speed": 2.2624421167847797,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.452375411987305,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3019.596923828125,
                4266.7919921875,
                361.5059814453125
            ],
            "velocity": [
                -5.660367965698242,
                -0.9701290130615234,
                -0.054864659905433655
            ],
            "speed_kmh": 20.67538827162167,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.074192523956299,
                "transform": {
                    "location": {
                        "x": 2978.398681640625,
                        "y": 4270.13330078125,
                        "z": 361.1207275390625
                    },
                    "rotation": {
                        "roll": 0.004962523002177477,
                        "pitch": 0.49766805768013,
                        "yaw": 9.754135131835938
                    }
                },
                "velocity": {
                    "x": 5.987711429595947,
                    "y": 1.019788146018982,
                    "z": 0.0561860054731369
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.800470352172852,
                "transform": {
                    "location": {
                        "x": 2979.028564453125,
                        "y": 4266.94873046875,
                        "z": 361.12335205078125
                    },
                    "rotation": {
                        "roll": 0.004318959545344114,
                        "pitch": 0.5367298722267151,
                        "yaw": 9.64751148223877
                    }
                },
                "velocity": {
                    "x": 7.690918922424316,
                    "y": 1.3007911443710327,
                    "z": 0.07104888558387756
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.743163108825684,
                "transform": {
                    "location": {
                        "x": 3019.596923828125,
                        "y": 4266.7919921875,
                        "z": 361.5059814453125
                    },
                    "rotation": {
                        "roll": 0.02806774713099003,
                        "pitch": -0.7681913375854492,
                        "yaw": -171.8915557861328
                    }
                },
                "velocity": {
                    "x": -5.660367965698242,
                    "y": -0.9701290130615234,
                    "z": -0.054864659905433655
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.866171836853027,
                "transform": {
                    "location": {
                        "x": 3004.795654296875,
                        "y": 4264.40966796875,
                        "z": 361.3536376953125
                    },
                    "rotation": {
                        "roll": -0.002014152705669403,
                        "pitch": -0.5136028528213501,
                        "yaw": -170.3401336669922
                    }
                },
                "velocity": {
                    "x": -6.771114826202393,
                    "y": -1.1367560625076294,
                    "z": -0.06405502557754517
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.762051582336426,
                "transform": {
                    "location": {
                        "x": 3018.25146484375,
                        "y": 4269.875,
                        "z": 361.4886779785156
                    },
                    "rotation": {
                        "roll": 0.014428962022066116,
                        "pitch": -0.7931147217750549,
                        "yaw": -170.495361328125
                    }
                },
                "velocity": {
                    "x": -4.696897029876709,
                    "y": -0.7837150692939758,
                    "z": -0.04563398286700249
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.546935558319092,
                "transform": {
                    "location": {
                        "x": 3004.060791015625,
                        "y": 4267.58251953125,
                        "z": 361.3599853515625
                    },
                    "rotation": {
                        "roll": 0.010040702298283577,
                        "pitch": -0.3965402841567993,
                        "yaw": -170.19735717773438
                    }
                },
                "velocity": {
                    "x": -7.441470146179199,
                    "y": -1.2552515268325806,
                    "z": -0.071410171687603
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02764434553682804,
        "expert_target_speed": 3.349813870634124,
        "target_point": [
            49.46347229543076,
            0.4810688876276261
        ],
        "target_point_next": [
            100.46123020299123,
            0.9653763698311053
        ]
    },
    "55": {
        "acceleration": [
            -0.9498119354248047,
            -0.274009108543396,
            -0.024522952735424042
        ],
        "angular_velocity": [
            -0.10909956693649292,
            -0.06384807080030441,
            -0.8585227131843567
        ],
        "forward_vector": [
            -0.9890872240066528,
            -0.1471571922302246,
            -0.00716000609099865
        ],
        "right_vector": [
            0.14716310799121857,
            -0.9891121983528137,
            -0.0003052704269066453
        ],
        "location": [
            3039.174072265625,
            4270.056640625,
            361.68499755859375
        ],
        "rotation": [
            0.017491156235337257,
            -0.41024163365364075,
            -171.53756713867188
        ],
        "velocity": [
            -2.538989782333374,
            -0.3752816319465637,
            -0.02491035871207714
        ],
        "speed": 2.566574646892186,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.438901901245117,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3019.01806640625,
                4266.67236328125,
                361.5095520019531
            ],
            "velocity": [
                -0.00020365326781757176,
                -0.009616046212613583,
                -0.0008687528315931559
            ],
            "speed_kmh": 0.03476648644386172,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.505989074707031,
                "transform": {
                    "location": {
                        "x": 2979.930908203125,
                        "y": 4270.39453125,
                        "z": 361.1346130371094
                    },
                    "rotation": {
                        "roll": 0.0052924868650734425,
                        "pitch": 0.5319350957870483,
                        "yaw": 9.662028312683105
                    }
                },
                "velocity": {
                    "x": 6.413982391357422,
                    "y": 1.0887303352355957,
                    "z": 0.05818699672818184
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.41047191619873,
                "transform": {
                    "location": {
                        "x": 2981.07763671875,
                        "y": 4267.294921875,
                        "z": 361.14215087890625
                    },
                    "rotation": {
                        "roll": 0.0038719449657946825,
                        "pitch": 0.5400630235671997,
                        "yaw": 9.553536415100098
                    }
                },
                "velocity": {
                    "x": 8.29528522491455,
                    "y": 1.3850865364074707,
                    "z": 0.07626602053642273
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.009657357819378376,
                "transform": {
                    "location": {
                        "x": 3019.01806640625,
                        "y": 4266.67236328125,
                        "z": 361.5095520019531
                    },
                    "rotation": {
                        "roll": 0.17487311363220215,
                        "pitch": -1.9327043294906616,
                        "yaw": -173.1595458984375
                    }
                },
                "velocity": {
                    "x": -0.00020365326781757176,
                    "y": -0.009616046212613583,
                    "z": -0.0008687528315931559
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.108395099639893,
                "transform": {
                    "location": {
                        "x": 3003.023681640625,
                        "y": 4264.11279296875,
                        "z": 361.33697509765625
                    },
                    "rotation": {
                        "roll": -0.002685550367459655,
                        "pitch": -0.5232539176940918,
                        "yaw": -170.49349975585938
                    }
                },
                "velocity": {
                    "x": -7.011728763580322,
                    "y": -1.1664223670959473,
                    "z": -0.0662793517112732
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005114689469337463,
                "transform": {
                    "location": {
                        "x": 3017.857177734375,
                        "y": 4269.80908203125,
                        "z": 361.48968505859375
                    },
                    "rotation": {
                        "roll": 0.004664725158363581,
                        "pitch": -2.149132490158081,
                        "yaw": -170.5264892578125
                    }
                },
                "velocity": {
                    "x": 0.004806833807379007,
                    "y": 0.0008630297961644828,
                    "z": -0.0015197296161204576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.604210376739502,
                "transform": {
                    "location": {
                        "x": 3002.60888671875,
                        "y": 4267.33837890625,
                        "z": 361.35162353515625
                    },
                    "rotation": {
                        "roll": -0.006286622025072575,
                        "pitch": -1.0559676885604858,
                        "yaw": -170.12548828125
                    }
                },
                "velocity": {
                    "x": -5.527153968811035,
                    "y": -0.9246786832809448,
                    "z": -0.0520906038582325
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04009096696972847,
        "expert_target_speed": 3.612073787564196,
        "target_point": [
            48.85750635679428,
            0.6412785085544366
        ],
        "target_point_next": [
            99.85343510312318,
            1.290213509005996
        ]
    },
    "60": {
        "acceleration": [
            -1.290421485900879,
            -0.16289055347442627,
            -0.015853308141231537
        ],
        "angular_velocity": [
            -0.0034896729048341513,
            -0.01996253989636898,
            0.4659947454929352
        ],
        "forward_vector": [
            -0.9892449975013733,
            -0.14608803391456604,
            -0.0072565628215670586
        ],
        "right_vector": [
            0.14609408378601074,
            -0.9892706274986267,
            -0.00031002613832242787
        ],
        "location": [
            3038.49609375,
            4269.95654296875,
            361.6783142089844
        ],
        "rotation": [
            0.017763657495379448,
            -0.41577407717704773,
            -171.5994873046875
        ],
        "velocity": [
            -2.8537089824676514,
            -0.41469863057136536,
            -0.026622485369443893
        ],
        "speed": 2.88368339295671,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.847761154174805,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3018.925048828125,
                4266.65869140625,
                361.4994812011719
            ],
            "velocity": [
                -0.6424310803413391,
                -0.0948028638958931,
                -0.0044703674502670765
            ],
            "speed_kmh": 2.337853582217673,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.626494884490967,
                "transform": {
                    "location": {
                        "x": 2981.671142578125,
                        "y": 4270.6875,
                        "z": 361.150390625
                    },
                    "rotation": {
                        "roll": 0.005123469978570938,
                        "pitch": 0.5560252070426941,
                        "yaw": 9.512710571289062
                    }
                },
                "velocity": {
                    "x": 7.522935390472412,
                    "y": 1.2505974769592285,
                    "z": 0.06978099793195724
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.878623962402344,
                "transform": {
                    "location": {
                        "x": 2983.07861328125,
                        "y": 4267.6279296875,
                        "z": 361.1608581542969
                    },
                    "rotation": {
                        "roll": 0.0027128488291054964,
                        "pitch": 0.515324056148529,
                        "yaw": 9.418397903442383
                    }
                },
                "velocity": {
                    "x": 7.772928237915039,
                    "y": 1.2841932773590088,
                    "z": 0.07172670215368271
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6494038105010986,
                "transform": {
                    "location": {
                        "x": 3018.925048828125,
                        "y": 4266.65869140625,
                        "z": 361.4994812011719
                    },
                    "rotation": {
                        "roll": 0.06638693064451218,
                        "pitch": -0.8006620407104492,
                        "yaw": -173.06027221679688
                    }
                },
                "velocity": {
                    "x": -0.6424310803413391,
                    "y": -0.0948028638958931,
                    "z": -0.0044703674502670765
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.6236796379089355,
                "transform": {
                    "location": {
                        "x": 3001.33837890625,
                        "y": 4263.83251953125,
                        "z": 361.3212890625
                    },
                    "rotation": {
                        "roll": -0.0014648428186774254,
                        "pitch": -0.5363747477531433,
                        "yaw": -170.56884765625
                    }
                },
                "velocity": {
                    "x": -6.534260272979736,
                    "y": -1.0829355716705322,
                    "z": -0.061879537999629974
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2420762777328491,
                "transform": {
                    "location": {
                        "x": 3017.659423828125,
                        "y": 4269.7763671875,
                        "z": 361.4832458496094
                    },
                    "rotation": {
                        "roll": 0.0013474214356392622,
                        "pitch": -0.9365213513374329,
                        "yaw": -170.5690460205078
                    }
                },
                "velocity": {
                    "x": -1.225393533706665,
                    "y": -0.20262688398361206,
                    "z": -0.010325335897505283
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.4743733406066895,
                "transform": {
                    "location": {
                        "x": 3001.115478515625,
                        "y": 4267.0869140625,
                        "z": 361.33245849609375
                    },
                    "rotation": {
                        "roll": 0.0018374285427853465,
                        "pitch": -0.4128097891807556,
                        "yaw": -170.3157501220703
                    }
                },
                "velocity": {
                    "x": -6.3860063552856445,
                    "y": -1.0643746852874756,
                    "z": -0.05947425588965416
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04583148658275604,
        "expert_target_speed": 3.907787724347216,
        "target_point": [
            48.17145663898078,
            0.6941159446345226
        ],
        "target_point_next": [
            99.16665409794187,
            1.3981766359331456
        ]
    },
    "65": {
        "acceleration": [
            -1.6265487670898438,
            -0.22292256355285645,
            -0.003582574427127838
        ],
        "angular_velocity": [
            0.02976941503584385,
            0.11534169316291809,
            -0.9138140678405762
        ],
        "forward_vector": [
            -0.9894428253173828,
            -0.14475730061531067,
            -0.006942215841263533
        ],
        "right_vector": [
            0.14476288855075836,
            -0.9894663095474243,
            -0.0003088291559834033
        ],
        "location": [
            3037.733642578125,
            4269.84619140625,
            361.6708984375
        ],
        "rotation": [
            0.01769503392279148,
            -0.39776286482810974,
            -171.67657470703125
        ],
        "velocity": [
            -3.2412264347076416,
            -0.4666597545146942,
            -0.030050277709960938
        ],
        "speed": 3.274648092166748,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.30708122253418,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3018.697998046875,
                4266.625,
                361.4932861328125
            ],
            "velocity": [
                -0.9498504996299744,
                -0.14989638328552246,
                -0.009674740023911
            ],
            "speed_kmh": 3.461954553949609,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.672954559326172,
                "transform": {
                    "location": {
                        "x": 2983.635498046875,
                        "y": 4271.01416015625,
                        "z": 361.16845703125
                    },
                    "rotation": {
                        "roll": 0.0032287472859025,
                        "pitch": 0.5625616908073425,
                        "yaw": 9.379032135009766
                    }
                },
                "velocity": {
                    "x": 8.556798934936523,
                    "y": 1.4124208688735962,
                    "z": 0.07997701317071915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.105359077453613,
                "transform": {
                    "location": {
                        "x": 2985.036865234375,
                        "y": 4267.951171875,
                        "z": 361.17901611328125
                    },
                    "rotation": {
                        "roll": 0.0022070391569286585,
                        "pitch": 0.5295376777648926,
                        "yaw": 9.349600791931152
                    }
                },
                "velocity": {
                    "x": 7.997567653656006,
                    "y": 1.3154443502426147,
                    "z": 0.07317615300416946
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.961654007434845,
                "transform": {
                    "location": {
                        "x": 3018.697998046875,
                        "y": 4266.625,
                        "z": 361.4932861328125
                    },
                    "rotation": {
                        "roll": -0.003448486328125,
                        "pitch": -0.2700178623199463,
                        "yaw": -172.8299560546875
                    }
                },
                "velocity": {
                    "x": -0.9498504996299744,
                    "y": -0.14989638328552246,
                    "z": -0.009674740023911
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.842141151428223,
                "transform": {
                    "location": {
                        "x": 2999.79345703125,
                        "y": 4263.57666015625,
                        "z": 361.3069152832031
                    },
                    "rotation": {
                        "roll": -0.0012817359529435635,
                        "pitch": -0.5467566251754761,
                        "yaw": -170.6201171875
                    }
                },
                "velocity": {
                    "x": -5.7647223472595215,
                    "y": -0.9464079737663269,
                    "z": -0.05387211591005325
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.16080379486084,
                "transform": {
                    "location": {
                        "x": 3017.236083984375,
                        "y": 4269.7060546875,
                        "z": 361.4772644042969
                    },
                    "rotation": {
                        "roll": 1.9107017578789964e-05,
                        "pitch": -0.4135406017303467,
                        "yaw": -170.57984924316406
                    }
                },
                "velocity": {
                    "x": -2.1316332817077637,
                    "y": -0.35328033566474915,
                    "z": -0.02014702744781971
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.81643009185791,
                "transform": {
                    "location": {
                        "x": 2999.64306640625,
                        "y": 4266.837890625,
                        "z": 361.3209228515625
                    },
                    "rotation": {
                        "roll": 0.009475075639784336,
                        "pitch": -0.7111455798149109,
                        "yaw": -170.88990783691406
                    }
                },
                "velocity": {
                    "x": -4.751640319824219,
                    "y": -0.7860091924667358,
                    "z": -0.045862581580877304
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06032705679535866,
        "expert_target_speed": 4.268085292086784,
        "target_point": [
            47.400084751976976,
            0.7600974170398347
        ],
        "target_point_next": [
            98.39428900201916,
            1.532754029283737
        ]
    },
    "70": {
        "acceleration": [
            -1.241774559020996,
            -0.1841270923614502,
            -0.023913085460662842
        ],
        "angular_velocity": [
            -0.007394562941044569,
            -0.07026458531618118,
            0.4903770387172699
        ],
        "forward_vector": [
            -0.9894834756851196,
            -0.1444832682609558,
            -0.00685531459748745
        ],
        "right_vector": [
            0.14448752999305725,
            -0.9895066022872925,
            -0.00012688350398093462
        ],
        "location": [
            3036.87451171875,
            4269.72119140625,
            361.6625671386719
        ],
        "rotation": [
            0.007270060013979673,
            -0.39278367161750793,
            -171.69244384765625
        ],
        "velocity": [
            -3.598357677459717,
            -0.5249833464622498,
            -0.03410452604293823
        ],
        "speed": 3.636452321837314,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.669952392578125,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3018.4697265625,
                4266.59033203125,
                361.4930114746094
            ],
            "velocity": [
                -0.9211753606796265,
                -0.14725396037101746,
                -0.009680156596004963
            ],
            "speed_kmh": 3.3585153822817104,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.332487106323242,
                "transform": {
                    "location": {
                        "x": 2985.75,
                        "y": 4271.36279296875,
                        "z": 361.1885070800781
                    },
                    "rotation": {
                        "roll": 0.002991544781252742,
                        "pitch": 0.5316482186317444,
                        "yaw": 9.311607360839844
                    }
                },
                "velocity": {
                    "x": 8.222352981567383,
                    "y": 1.348134160041809,
                    "z": 0.07605966180562973
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.101819038391113,
                "transform": {
                    "location": {
                        "x": 2987.049560546875,
                        "y": 4268.28125,
                        "z": 361.19769287109375
                    },
                    "rotation": {
                        "roll": 0.001606580801308155,
                        "pitch": 0.5310676693916321,
                        "yaw": 9.296515464782715
                    }
                },
                "velocity": {
                    "x": 7.99562406539917,
                    "y": 1.3052787780761719,
                    "z": 0.07560102641582489
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9329209327697754,
                "transform": {
                    "location": {
                        "x": 3018.4697265625,
                        "y": 4266.59033203125,
                        "z": 361.4930114746094
                    },
                    "rotation": {
                        "roll": 0.01269687619060278,
                        "pitch": -0.5151055455207825,
                        "yaw": -172.61871337890625
                    }
                },
                "velocity": {
                    "x": -0.9211753606796265,
                    "y": -0.14725396037101746,
                    "z": -0.009680156596004963
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.780671119689941,
                "transform": {
                    "location": {
                        "x": 2998.38720703125,
                        "y": 4263.34619140625,
                        "z": 361.2936096191406
                    },
                    "rotation": {
                        "roll": -0.0008850079611875117,
                        "pitch": -0.5328708291053772,
                        "yaw": -170.6768798828125
                    }
                },
                "velocity": {
                    "x": -5.7046661376953125,
                    "y": -0.9328112602233887,
                    "z": -0.05293317139148712
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.443406105041504,
                "transform": {
                    "location": {
                        "x": 3016.54736328125,
                        "y": 4269.59130859375,
                        "z": 361.46966552734375
                    },
                    "rotation": {
                        "roll": -0.0005187989445403218,
                        "pitch": -0.13387852907180786,
                        "yaw": -170.5830841064453
                    }
                },
                "velocity": {
                    "x": -3.396859884262085,
                    "y": -0.5633296966552734,
                    "z": -0.03236861526966095
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.183462142944336,
                "transform": {
                    "location": {
                        "x": 2998.393798828125,
                        "y": 4266.6337890625,
                        "z": 361.3090515136719
                    },
                    "rotation": {
                        "roll": 0.010985637083649635,
                        "pitch": -0.670587956905365,
                        "yaw": -170.91900634765625
                    }
                },
                "velocity": {
                    "x": -5.116424560546875,
                    "y": -0.8296624422073364,
                    "z": -0.0462578609585762
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08501656353473663,
        "expert_target_speed": 4.588154014313793,
        "target_point": [
            46.53169573819371,
            0.7736739135403274
        ],
        "target_point_next": [
            97.52568397263902,
            1.5604580521181521
        ]
    },
    "75": {
        "acceleration": [
            -0.47091007232666016,
            -0.07072925567626953,
            -0.0003429502248764038
        ],
        "angular_velocity": [
            0.05653868988156319,
            -0.23233641684055328,
            -0.4468884766101837
        ],
        "forward_vector": [
            -0.9894942045211792,
            -0.14437399804592133,
            -0.007575080730021
        ],
        "right_vector": [
            0.14437927305698395,
            -0.989522397518158,
            -0.0001511016016593203
        ],
        "location": [
            3035.9462890625,
            4269.58544921875,
            361.6537780761719
        ],
        "rotation": [
            0.008657732978463173,
            -0.4340243339538574,
            -171.69873046875
        ],
        "velocity": [
            -3.794243574142456,
            -0.5537277460098267,
            -0.03720409795641899
        ],
        "speed": 3.834435905921814,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.095243453979492,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3018.11083984375,
                4266.53466796875,
                361.4884948730469
            ],
            "velocity": [
                -1.998369812965393,
                -0.3168592154979706,
                -0.018983988091349602
            ],
            "speed_kmh": 7.284324069159095,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.04248332977295,
                "transform": {
                    "location": {
                        "x": 2987.76513671875,
                        "y": 4271.69287109375,
                        "z": 361.2073669433594
                    },
                    "rotation": {
                        "roll": 0.0036572925746440887,
                        "pitch": 0.5188484787940979,
                        "yaw": 9.251850128173828
                    }
                },
                "velocity": {
                    "x": 7.937335014343262,
                    "y": 1.2940086126327515,
                    "z": 0.07614435255527496
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.00424861907959,
                "transform": {
                    "location": {
                        "x": 2989.029296875,
                        "y": 4268.6044921875,
                        "z": 361.21630859375
                    },
                    "rotation": {
                        "roll": 0.0014250683598220348,
                        "pitch": 0.5264368057250977,
                        "yaw": 9.253643035888672
                    }
                },
                "velocity": {
                    "x": 7.899913311004639,
                    "y": 1.2860298156738281,
                    "z": 0.07414644211530685
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.023423433303833,
                "transform": {
                    "location": {
                        "x": 3018.11083984375,
                        "y": 4266.53466796875,
                        "z": 361.4884948730469
                    },
                    "rotation": {
                        "roll": -0.00033569629886187613,
                        "pitch": -0.4003036916255951,
                        "yaw": -172.3953094482422
                    }
                },
                "velocity": {
                    "x": -1.998369812965393,
                    "y": -0.3168592154979706,
                    "z": -0.018983988091349602
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.869358539581299,
                "transform": {
                    "location": {
                        "x": 2996.827392578125,
                        "y": 4263.0908203125,
                        "z": 361.2789306640625
                    },
                    "rotation": {
                        "roll": -0.0005187978385947645,
                        "pitch": -0.507414698600769,
                        "yaw": -170.70175170898438
                    }
                },
                "velocity": {
                    "x": -6.779393196105957,
                    "y": -1.1063090562820435,
                    "z": -0.0631861612200737
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.810909271240234,
                "transform": {
                    "location": {
                        "x": 3015.51708984375,
                        "y": 4269.42041015625,
                        "z": 361.4592590332031
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": 0.008032302372157574,
                        "yaw": -170.5826873779297
                    }
                },
                "velocity": {
                    "x": -4.745849609375,
                    "y": -0.7871835231781006,
                    "z": -0.04582452028989792
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.150021076202393,
                "transform": {
                    "location": {
                        "x": 2996.98583984375,
                        "y": 4266.40673828125,
                        "z": 361.29315185546875
                    },
                    "rotation": {
                        "roll": -0.0007934572058729827,
                        "pitch": -0.3063066601753235,
                        "yaw": -170.8189239501953
                    }
                },
                "velocity": {
                    "x": -6.070344924926758,
                    "y": -0.9850867986679077,
                    "z": -0.057253070175647736
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10690920054912567,
        "expert_target_speed": 4.765760734952468,
        "target_point": [
            45.59351474647148,
            0.7784940919707797
        ],
        "target_point_next": [
            96.58741600777698,
            1.5708951821327872
        ]
    },
    "80": {
        "acceleration": [
            0.8375453948974609,
            0.10347366333007812,
            0.012107938528060913
        ],
        "angular_velocity": [
            0.055257398635149,
            -0.44836097955703735,
            0.7383405566215515
        ],
        "forward_vector": [
            -0.9893555045127869,
            -0.14521437883377075,
            -0.009406665340065956
        ],
        "right_vector": [
            0.14522090554237366,
            -0.989399254322052,
            -1.1437280591053423e-05
        ],
        "location": [
            3035.009033203125,
            4269.44775390625,
            361.6451721191406
        ],
        "rotation": [
            0.000655336887575686,
            -0.5389701724052429,
            -171.64993286132812
        ],
        "velocity": [
            -3.6660706996917725,
            -0.5439307689666748,
            -0.03611156344413757
        ],
        "speed": 3.706202241724971,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.867403030395508,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3017.39990234375,
                4266.42529296875,
                361.4797668457031
            ],
            "velocity": [
                -3.675165891647339,
                -0.5886735916137695,
                -0.035211969166994095
            ],
            "speed_kmh": 13.399846481033958,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.905807971954346,
                "transform": {
                    "location": {
                        "x": 2989.726806640625,
                        "y": 4272.01220703125,
                        "z": 361.2257995605469
                    },
                    "rotation": {
                        "roll": -0.00039672781713306904,
                        "pitch": 0.5237252116203308,
                        "yaw": 9.21805477142334
                    }
                },
                "velocity": {
                    "x": 7.80309534072876,
                    "y": 1.2681676149368286,
                    "z": 0.07244380563497543
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0879545211792,
                "transform": {
                    "location": {
                        "x": 2991.015625,
                        "y": 4268.92822265625,
                        "z": 361.2348327636719
                    },
                    "rotation": {
                        "roll": 0.0011214896803721786,
                        "pitch": 0.5303710103034973,
                        "yaw": 9.233057022094727
                    }
                },
                "velocity": {
                    "x": 7.983046531677246,
                    "y": 1.2963672876358032,
                    "z": 0.0735175684094429
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.722179651260376,
                "transform": {
                    "location": {
                        "x": 3017.39990234375,
                        "y": 4266.42529296875,
                        "z": 361.4797668457031
                    },
                    "rotation": {
                        "roll": -0.0182189904153347,
                        "pitch": -0.15813936293125153,
                        "yaw": -171.9291229248047
                    }
                },
                "velocity": {
                    "x": -3.675165891647339,
                    "y": -0.5886735916137695,
                    "z": -0.035211969166994095
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.798514366149902,
                "transform": {
                    "location": {
                        "x": 2995.052978515625,
                        "y": 4262.80126953125,
                        "z": 361.2623291015625
                    },
                    "rotation": {
                        "roll": -0.0001220643098349683,
                        "pitch": -0.5028931498527527,
                        "yaw": -170.7362823486328
                    }
                },
                "velocity": {
                    "x": -7.696923732757568,
                    "y": -1.2525743246078491,
                    "z": -0.07245851308107376
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.339430332183838,
                "transform": {
                    "location": {
                        "x": 3014.223876953125,
                        "y": 4269.20751953125,
                        "z": 361.4476623535156
                    },
                    "rotation": {
                        "roll": 0.0067121307365596294,
                        "pitch": -0.15848086774349213,
                        "yaw": -170.63380432128906
                    }
                },
                "velocity": {
                    "x": -5.268691062927246,
                    "y": -0.8648425936698914,
                    "z": -0.04958195611834526
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.396191120147705,
                "transform": {
                    "location": {
                        "x": 2995.293701171875,
                        "y": 4266.13134765625,
                        "z": 361.2765197753906
                    },
                    "rotation": {
                        "roll": 0.0016314765671268106,
                        "pitch": -0.21982279419898987,
                        "yaw": -170.87738037109375
                    }
                },
                "velocity": {
                    "x": -7.300402641296387,
                    "y": -1.1845149993896484,
                    "z": -0.06842997670173645
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11445360630750656,
        "expert_target_speed": 4.660424795028083,
        "target_point": [
            44.6468447140457,
            0.7395379982045398
        ],
        "target_point_next": [
            95.64140231641674,
            1.4885108107453533
        ]
    },
    "85": {
        "acceleration": [
            0.30251026153564453,
            0.08257150650024414,
            0.01692242920398712
        ],
        "angular_velocity": [
            0.07030729949474335,
            -0.01753210835158825,
            -0.6680432558059692
        ],
        "forward_vector": [
            -0.9893093705177307,
            -0.1454622894525528,
            -0.01038294192403555
        ],
        "right_vector": [
            0.14547216892242432,
            -0.989362359046936,
            -0.00019927171524614096
        ],
        "location": [
            3034.11181640625,
            4269.3154296875,
            361.6365966796875
        ],
        "rotation": [
            0.01141804363578558,
            -0.5949094295501709,
            -171.635498046875
        ],
        "velocity": [
            -3.543259620666504,
            -0.5185897946357727,
            -0.03373037651181221
        ],
        "speed": 3.581008812408329,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.145912170410156,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3016.22900390625,
                4266.2412109375,
                361.46820068359375
            ],
            "velocity": [
                -5.351943016052246,
                -0.8676268458366394,
                -0.04950238764286041
            ],
            "speed_kmh": 19.51934503426836,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002058029174805,
                "transform": {
                    "location": {
                        "x": 2991.68896484375,
                        "y": 4272.33056640625,
                        "z": 361.2440185546875
                    },
                    "rotation": {
                        "roll": 0.001110900309868157,
                        "pitch": 0.5297289490699768,
                        "yaw": 9.205509185791016
                    }
                },
                "velocity": {
                    "x": 7.898501873016357,
                    "y": 1.281140923500061,
                    "z": 0.07268091291189194
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.068321228027344,
                "transform": {
                    "location": {
                        "x": 2993.011474609375,
                        "y": 4269.251953125,
                        "z": 361.2533874511719
                    },
                    "rotation": {
                        "roll": 0.00035308042424730957,
                        "pitch": 0.5285336971282959,
                        "yaw": 9.220858573913574
                    }
                },
                "velocity": {
                    "x": 7.963735580444336,
                    "y": 1.2926733493804932,
                    "z": 0.07566899806261063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.4220404624938965,
                "transform": {
                    "location": {
                        "x": 3016.22900390625,
                        "y": 4266.2412109375,
                        "z": 361.46820068359375
                    },
                    "rotation": {
                        "roll": -0.0212097130715847,
                        "pitch": -0.09771951287984848,
                        "yaw": -171.3886260986328
                    }
                },
                "velocity": {
                    "x": -5.351943016052246,
                    "y": -0.8676268458366394,
                    "z": -0.04950238764286041
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.69587230682373,
                "transform": {
                    "location": {
                        "x": 2992.9970703125,
                        "y": 4262.466796875,
                        "z": 361.2431945800781
                    },
                    "rotation": {
                        "roll": -6.103718624217436e-05,
                        "pitch": -0.5053656697273254,
                        "yaw": -170.76458740234375
                    }
                },
                "velocity": {
                    "x": -8.582793235778809,
                    "y": -1.3955183029174805,
                    "z": -0.07990691810846329
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.763819217681885,
                "transform": {
                    "location": {
                        "x": 3012.7548828125,
                        "y": 4268.96630859375,
                        "z": 361.43310546875
                    },
                    "rotation": {
                        "roll": 0.004243361763656139,
                        "pitch": -0.03790754824876785,
                        "yaw": -170.67239379882812
                    }
                },
                "velocity": {
                    "x": -6.674537658691406,
                    "y": -1.0934734344482422,
                    "z": -0.06411954015493393
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.568124771118164,
                "transform": {
                    "location": {
                        "x": 2993.318603515625,
                        "y": 4265.81201171875,
                        "z": 361.2584533691406
                    },
                    "rotation": {
                        "roll": 0.0005660897004418075,
                        "pitch": -0.26787999272346497,
                        "yaw": -170.83396911621094
                    }
                },
                "velocity": {
                    "x": -8.457473754882812,
                    "y": -1.3702982664108276,
                    "z": -0.07862929999828339
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12542200088500977,
        "expert_target_speed": 4.570766156238794,
        "target_point": [
            43.74010783615833,
            0.7278774256647074
        ],
        "target_point_next": [
            94.73485274221207,
            1.4639869976504638
        ]
    },
    "90": {
        "acceleration": [
            0.8409976959228516,
            0.13238131999969482,
            0.004812330007553101
        ],
        "angular_velocity": [
            0.0356438122689724,
            -0.1319689303636551,
            0.4563194811344147
        ],
        "forward_vector": [
            -0.9893785119056702,
            -0.14497438073158264,
            -0.010615149512887001
        ],
        "right_vector": [
            0.14498497545719147,
            -0.9894338846206665,
            -0.00023131200578063726
        ],
        "location": [
            3033.239990234375,
            4269.18798828125,
            361.6283264160156
        ],
        "rotation": [
            0.013253947719931602,
            -0.6082146763801575,
            -171.66372680664062
        ],
        "velocity": [
            -3.4081175327301025,
            -0.49574586749076843,
            -0.03285016864538193
        ],
        "speed": 3.4439844776125943,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.72063446044922,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3014.791748046875,
                4266.0107421875,
                361.4560852050781
            ],
            "velocity": [
                -6.393052101135254,
                -1.0398786067962646,
                -0.061955180019140244
            ],
            "speed_kmh": 23.318526167669255,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2954.7578125,
                        "y": 4262.9619140625,
                        "z": 361.1750183105469
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.007033348083496,
                "transform": {
                    "location": {
                        "x": 2993.66552734375,
                        "y": 4272.6513671875,
                        "z": 361.262451171875
                    },
                    "rotation": {
                        "roll": 0.0012599837500602007,
                        "pitch": 0.5304324626922607,
                        "yaw": 9.201279640197754
                    }
                },
                "velocity": {
                    "x": 7.903576374053955,
                    "y": 1.280908465385437,
                    "z": 0.07304956018924713
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.032943725585938,
                "transform": {
                    "location": {
                        "x": 2994.994873046875,
                        "y": 4269.57373046875,
                        "z": 361.2719421386719
                    },
                    "rotation": {
                        "roll": -0.0004577654763124883,
                        "pitch": 0.5282263159751892,
                        "yaw": 9.215526580810547
                    }
                },
                "velocity": {
                    "x": 7.928905010223389,
                    "y": 1.2864924669265747,
                    "z": 0.07471471279859543
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.477368354797363,
                "transform": {
                    "location": {
                        "x": 3014.791748046875,
                        "y": 4266.0107421875,
                        "z": 361.4560852050781
                    },
                    "rotation": {
                        "roll": -0.006988524459302425,
                        "pitch": -0.2949821949005127,
                        "yaw": -170.99147033691406
                    }
                },
                "velocity": {
                    "x": -6.393052101135254,
                    "y": -1.0398786067962646,
                    "z": -0.061955180019140244
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.111847877502441,
                "transform": {
                    "location": {
                        "x": 2990.890869140625,
                        "y": 4262.12451171875,
                        "z": 361.2237548828125
                    },
                    "rotation": {
                        "roll": 0.0003264592669438571,
                        "pitch": -0.5350633263587952,
                        "yaw": -170.77244567871094
                    }
                },
                "velocity": {
                    "x": -8.00661849975586,
                    "y": -1.3001817464828491,
                    "z": -0.07517169415950775
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.102116584777832,
                "transform": {
                    "location": {
                        "x": 3010.90673828125,
                        "y": 4268.66357421875,
                        "z": 361.4150695800781
                    },
                    "rotation": {
                        "roll": 0.0012358081294223666,
                        "pitch": 0.05456637963652611,
                        "yaw": -170.69378662109375
                    }
                },
                "velocity": {
                    "x": -7.995203495025635,
                    "y": -1.3096741437911987,
                    "z": -0.07593868672847748
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.043001174926758,
                "transform": {
                    "location": {
                        "x": 2991.0927734375,
                        "y": 4265.45166015625,
                        "z": 361.23846435546875
                    },
                    "rotation": {
                        "roll": -0.0004577619256451726,
                        "pitch": -0.3634343445301056,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -8.925992965698242,
                    "y": -1.447620153427124,
                    "z": -0.08320614695549011
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14683762192726135,
        "expert_target_speed": 4.465389747093747,
        "target_point": [
            42.85865257573938,
            0.7497272971205922
        ],
        "target_point_next": [
            93.85302870789124,
            1.5109554022795848
        ]
    },
    "95": {
        "acceleration": [
            -0.3460884094238281,
            -0.044762492179870605,
            -0.006678327918052673
        ],
        "angular_velocity": [
            -0.060881614685058594,
            0.2152412086725235,
            -0.7414558529853821
        ],
        "forward_vector": [
            -0.9894756078720093,
            -0.1443064659833908,
            -0.010661398991942406
        ],
        "right_vector": [
            0.14431700110435486,
            -0.9895315170288086,
            -0.00021963850304018706
        ],
        "location": [
            3032.407470703125,
            4269.0673828125,
            361.62030029296875
        ],
        "rotation": [
            0.01258507464081049,
            -0.6108647584915161,
            -171.70240783691406
        ],
        "velocity": [
            -3.3217554092407227,
            -0.4812925159931183,
            -0.032932255417108536
        ],
        "speed": 3.3564417892719347,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.682470321655273,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3013.01220703125,
                4265.72216796875,
                361.4388122558594
            ],
            "velocity": [
                -7.471497058868408,
                -1.2233521938323975,
                -0.07251060009002686
            ],
            "speed_kmh": 27.256806712202213,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2954.4814453125,
                        "y": 4266.20947265625,
                        "z": 361.01568603515625
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2956.7939453125,
                        "y": 4263.291015625,
                        "z": 361.0293273925781
                    },
                    "rotation": {
                        "roll": 3.335164366902177e-09,
                        "pitch": 0.46790891885757446,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022645950317383,
                "transform": {
                    "location": {
                        "x": 2995.64404296875,
                        "y": 4272.9716796875,
                        "z": 361.2808837890625
                    },
                    "rotation": {
                        "roll": 0.00022855092538520694,
                        "pitch": 0.5288205146789551,
                        "yaw": 9.197075843811035
                    }
                },
                "velocity": {
                    "x": 7.9191460609436035,
                    "y": 1.282436490058899,
                    "z": 0.072983019053936
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09260368347168,
                "transform": {
                    "location": {
                        "x": 2996.986572265625,
                        "y": 4269.89697265625,
                        "z": 361.29052734375
                    },
                    "rotation": {
                        "roll": 5.8886213082587346e-05,
                        "pitch": 0.529448926448822,
                        "yaw": 9.202574729919434
                    }
                },
                "velocity": {
                    "x": 7.988256454467773,
                    "y": 1.2931883335113525,
                    "z": 0.07516486942768097
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.571335315704346,
                "transform": {
                    "location": {
                        "x": 3013.01220703125,
                        "y": 4265.72216796875,
                        "z": 361.4388122558594
                    },
                    "rotation": {
                        "roll": -0.008148196153342724,
                        "pitch": -0.2893131375312805,
                        "yaw": -170.7609405517578
                    }
                },
                "velocity": {
                    "x": -7.471497058868408,
                    "y": -1.2233521938323975,
                    "z": -0.07251060009002686
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.742520332336426,
                "transform": {
                    "location": {
                        "x": 2989.042236328125,
                        "y": 4261.82470703125,
                        "z": 361.2066345214844
                    },
                    "rotation": {
                        "roll": -0.00015258591156452894,
                        "pitch": -0.557766854763031,
                        "yaw": -170.78338623046875
                    }
                },
                "velocity": {
                    "x": -6.65531587600708,
                    "y": -1.0791274309158325,
                    "z": -0.06191188842058182
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.375847816467285,
                "transform": {
                    "location": {
                        "x": 3008.792724609375,
                        "y": 4268.31787109375,
                        "z": 361.39495849609375
                    },
                    "rotation": {
                        "roll": 0.007870553061366081,
                        "pitch": 0.05754433944821358,
                        "yaw": -170.7270050048828
                    }
                },
                "velocity": {
                    "x": -9.253582954406738,
                    "y": -1.5066585540771484,
                    "z": -0.08777549862861633
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.405689716339111,
                "transform": {
                    "location": {
                        "x": 2988.98876953125,
                        "y": 4265.1103515625,
                        "z": 361.2221374511719
                    },
                    "rotation": {
                        "roll": 0.0002714383299462497,
                        "pitch": -0.7782931923866272,
                        "yaw": -170.7882080078125
                    }
                },
                "velocity": {
                    "x": -7.309823513031006,
                    "y": -1.1857662200927734,
                    "z": -0.0684274360537529
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1582770198583603,
        "expert_target_speed": 4.409035120340746,
        "target_point": [
            42.0169268614168,
            0.7794670649125521
        ],
        "target_point_next": [
            93.01077738722331,
            1.5751264689078255
        ]
    },
    "100": {
        "acceleration": [
            -1.8136024475097656,
            -0.25402069091796875,
            -0.012657493352890015
        ],
        "angular_velocity": [
            -0.0670781210064888,
            0.5246660709381104,
            0.3104439377784729
        ],
        "forward_vector": [
            -0.9895653128623962,
            -0.14382539689540863,
            -0.008642803877592087
        ],
        "right_vector": [
            0.14383263885974884,
            -0.9896019697189331,
            -0.00021840112458448857
        ],
        "location": [
            3031.5400390625,
            4268.94189453125,
            361.611328125
        ],
        "rotation": [
            0.012513930909335613,
            -0.49520236253738403,
            -171.7304229736328
        ],
        "velocity": [
            -3.6544744968414307,
            -0.5274228453636169,
            -0.03497350215911865
        ],
        "speed": 3.6923378374514813,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.990068435668945,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3010.857177734375,
                4265.369140625,
                361.4172668457031
            ],
            "velocity": [
                -9.36702823638916,
                -1.5411922931671143,
                -0.08858368545770645
            ],
            "speed_kmh": 34.17618220351211,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2956.53173828125,
                        "y": 4266.541015625,
                        "z": 360.9539489746094
                    },
                    "rotation": {
                        "roll": 3.335164366902177e-09,
                        "pitch": 0.46790891885757446,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2958.849609375,
                        "y": 4263.623046875,
                        "z": 360.9944763183594
                    },
                    "rotation": {
                        "roll": 3.335164366902177e-09,
                        "pitch": 0.46790891885757446,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9787492752075195,
                "transform": {
                    "location": {
                        "x": 2997.61767578125,
                        "y": 4273.291015625,
                        "z": 361.29931640625
                    },
                    "rotation": {
                        "roll": 0.00042680156184360385,
                        "pitch": 0.5281033515930176,
                        "yaw": 9.195722579956055
                    }
                },
                "velocity": {
                    "x": 7.875864505767822,
                    "y": 1.2751463651657104,
                    "z": 0.07207696884870529
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.034924507141113,
                "transform": {
                    "location": {
                        "x": 2998.975830078125,
                        "y": 4270.21875,
                        "z": 361.30914306640625
                    },
                    "rotation": {
                        "roll": 5.170218719285913e-05,
                        "pitch": 0.5273520350456238,
                        "yaw": 9.197975158691406
                    }
                },
                "velocity": {
                    "x": 7.931246280670166,
                    "y": 1.2843655347824097,
                    "z": 0.07586150616407394
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.49338436126709,
                "transform": {
                    "location": {
                        "x": 3010.857177734375,
                        "y": 4265.369140625,
                        "z": 361.4172668457031
                    },
                    "rotation": {
                        "roll": -0.006164548918604851,
                        "pitch": -0.16580283641815186,
                        "yaw": -170.66444396972656
                    }
                },
                "velocity": {
                    "x": -9.36702823638916,
                    "y": -1.5411922931671143,
                    "z": -0.08858368545770645
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.4842529296875,
                "transform": {
                    "location": {
                        "x": 2987.5634765625,
                        "y": 4261.5849609375,
                        "z": 361.19287109375
                    },
                    "rotation": {
                        "roll": 0.00029261145391501486,
                        "pitch": -0.5584089159965515,
                        "yaw": -170.7926483154297
                    }
                },
                "velocity": {
                    "x": -5.413422584533691,
                    "y": -0.8770483136177063,
                    "z": -0.05167485028505325
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.786677360534668,
                "transform": {
                    "location": {
                        "x": 3006.5244140625,
                        "y": 4267.94873046875,
                        "z": 361.3752746582031
                    },
                    "rotation": {
                        "roll": 0.004964909981936216,
                        "pitch": -0.3979814350605011,
                        "yaw": -170.75794982910156
                    }
                },
                "velocity": {
                    "x": -8.672223091125488,
                    "y": -1.411203145980835,
                    "z": -0.08223408460617065
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.4221177101135254,
                "transform": {
                    "location": {
                        "x": 2987.8896484375,
                        "y": 4264.9326171875,
                        "z": 361.2183532714844
                    },
                    "rotation": {
                        "roll": -0.00012207104009576142,
                        "pitch": -1.6085846424102783,
                        "yaw": -170.78155517578125
                    }
                },
                "velocity": {
                    "x": -3.377781867980957,
                    "y": -0.548063337802887,
                    "z": -0.03325139358639717
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17243947088718414,
        "expert_target_speed": 4.761583171551251,
        "target_point": [
            41.14007906866734,
            0.8006026677862836
        ],
        "target_point_next": [
            92.13353422741146,
            1.6212099481680742
        ]
    },
    "105": {
        "acceleration": [
            -2.0002079010009766,
            -0.278017520904541,
            -0.026661306619644165
        ],
        "angular_velocity": [
            -0.029529206454753876,
            0.27007362246513367,
            -0.36477214097976685
        ],
        "forward_vector": [
            -0.9896808862686157,
            -0.14312715828418732,
            -0.006813949905335903
        ],
        "right_vector": [
            0.14313212037086487,
            -0.9897035360336304,
            -0.00024470899370498955
        ],
        "location": [
            3030.560791015625,
            4268.80029296875,
            361.6014709472656
        ],
        "rotation": [
            0.014021117240190506,
            -0.3904135823249817,
            -171.77096557617188
        ],
        "velocity": [
            -4.152153015136719,
            -0.5965753197669983,
            -0.039675988256931305
        ],
        "speed": 4.19479162453441,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.461580276489258,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3008.428955078125,
                4264.97119140625,
                361.3956604003906
            ],
            "velocity": [
                -10.119142532348633,
                -1.6559200286865234,
                -0.09612403064966202
            ],
            "speed_kmh": 36.915074170671275,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2958.588134765625,
                        "y": 4266.87353515625,
                        "z": 360.96197509765625
                    },
                    "rotation": {
                        "roll": 3.335164366902177e-09,
                        "pitch": 0.46790891885757446,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2960.905029296875,
                        "y": 4263.9560546875,
                        "z": 360.9796142578125
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.014144897460938,
                "transform": {
                    "location": {
                        "x": 2999.591064453125,
                        "y": 4273.6103515625,
                        "z": 361.3177795410156
                    },
                    "rotation": {
                        "roll": 0.0007341798627749085,
                        "pitch": 0.528922975063324,
                        "yaw": 9.195183753967285
                    }
                },
                "velocity": {
                    "x": 7.910815238952637,
                    "y": 1.2806780338287354,
                    "z": 0.07338292896747589
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07958984375,
                "transform": {
                    "location": {
                        "x": 3000.964111328125,
                        "y": 4270.541015625,
                        "z": 361.3277587890625
                    },
                    "rotation": {
                        "roll": 0.0004339556908234954,
                        "pitch": 0.5302002429962158,
                        "yaw": 9.19615364074707
                    }
                },
                "velocity": {
                    "x": 7.975579261779785,
                    "y": 1.2899972200393677,
                    "z": 0.07632014900445938
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.25418758392334,
                "transform": {
                    "location": {
                        "x": 3008.428955078125,
                        "y": 4264.97119140625,
                        "z": 361.3956604003906
                    },
                    "rotation": {
                        "roll": 0.002404010621830821,
                        "pitch": -0.3269679546356201,
                        "yaw": -170.68508911132812
                    }
                },
                "velocity": {
                    "x": -10.119142532348633,
                    "y": -1.6559200286865234,
                    "z": -0.09612403064966202
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.070127487182617,
                "transform": {
                    "location": {
                        "x": 2986.279541015625,
                        "y": 4261.37646484375,
                        "z": 361.1806945800781
                    },
                    "rotation": {
                        "roll": 0.00046192563604563475,
                        "pitch": -0.5435532331466675,
                        "yaw": -170.7952423095703
                    }
                },
                "velocity": {
                    "x": -5.00462532043457,
                    "y": -0.8110411167144775,
                    "z": -0.04615410044789314
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.661748886108398,
                "transform": {
                    "location": {
                        "x": 3004.486083984375,
                        "y": 4267.6171875,
                        "z": 361.35760498046875
                    },
                    "rotation": {
                        "roll": 0.005383745301514864,
                        "pitch": -0.8235090374946594,
                        "yaw": -170.7718963623047
                    }
                },
                "velocity": {
                    "x": -7.562516689300537,
                    "y": -1.2270344495773315,
                    "z": -0.07157186418771744
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.75974440574646,
                "transform": {
                    "location": {
                        "x": 2986.973876953125,
                        "y": 4264.78369140625,
                        "z": 361.2015686035156
                    },
                    "rotation": {
                        "roll": 0.0002937903336714953,
                        "pitch": -0.5889876484870911,
                        "yaw": -170.78602600097656
                    }
                },
                "velocity": {
                    "x": -3.711109161376953,
                    "y": -0.6018703579902649,
                    "z": -0.03314857557415962
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.19242654740810394,
        "expert_target_speed": 5.257538870953296,
        "target_point": [
            40.150069597233795,
            0.8297113820472184
        ],
        "target_point_next": [
            91.1429317140898,
            1.6863784508521604
        ]
    },
    "110": {
        "acceleration": [
            -1.8970489501953125,
            -0.30135393142700195,
            -0.03400467336177826
        ],
        "angular_velocity": [
            -0.039054542779922485,
            0.05858061462640762,
            0.17635633051395416
        ],
        "forward_vector": [
            -0.9896798133850098,
            -0.14316457509994507,
            -0.006146034225821495
        ],
        "right_vector": [
            0.14316777884960175,
            -0.9896984696388245,
            -7.96430031186901e-05
        ],
        "location": [
            3029.458740234375,
            4268.64111328125,
            361.59075927734375
        ],
        "rotation": [
            0.004563294351100922,
            -0.3521440327167511,
            -171.76882934570312
        ],
        "velocity": [
            -4.638354778289795,
            -0.6748188138008118,
            -0.044993750751018524
        ],
        "speed": 4.687186307449631,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.877552032470703,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3005.93310546875,
                4264.5625,
                361.3742980957031
            ],
            "velocity": [
                -9.658148765563965,
                -1.5785622596740723,
                -0.09094811975955963
            ],
            "speed_kmh": 35.23220663794877,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.9288201332092285,
                "transform": {
                    "location": {
                        "x": 2960.60107421875,
                        "y": 4267.2001953125,
                        "z": 360.97210693359375
                    },
                    "rotation": {
                        "roll": -0.006011962890625,
                        "pitch": 0.28186821937561035,
                        "yaw": 9.207377433776855
                    }
                },
                "velocity": {
                    "x": 6.837125301361084,
                    "y": 1.1226462125778198,
                    "z": 0.04398808255791664
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.921053886413574,
                "transform": {
                    "location": {
                        "x": 2962.618408203125,
                        "y": 4264.23876953125,
                        "z": 360.9928283691406
                    },
                    "rotation": {
                        "roll": -0.0352172888815403,
                        "pitch": 0.1822977364063263,
                        "yaw": 9.418169975280762
                    }
                },
                "velocity": {
                    "x": 6.822628021240234,
                    "y": 1.1623075008392334,
                    "z": 0.04213334992527962
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.985992431640625,
                "transform": {
                    "location": {
                        "x": 3001.565185546875,
                        "y": 4273.9296875,
                        "z": 361.3362731933594
                    },
                    "rotation": {
                        "roll": 3.932198524125852e-05,
                        "pitch": 0.5341344475746155,
                        "yaw": 9.191089630126953
                    }
                },
                "velocity": {
                    "x": 7.8831353187561035,
                    "y": 1.2755182981491089,
                    "z": 0.07287725061178207
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0462007522583,
                "transform": {
                    "location": {
                        "x": 3002.954345703125,
                        "y": 4270.86279296875,
                        "z": 361.3464050292969
                    },
                    "rotation": {
                        "roll": 0.0004521628434304148,
                        "pitch": 0.5348242521286011,
                        "yaw": 9.192525863647461
                    }
                },
                "velocity": {
                    "x": 7.9425048828125,
                    "y": 1.2853825092315674,
                    "z": 0.075803242623806
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.786724090576172,
                "transform": {
                    "location": {
                        "x": 3005.93310546875,
                        "y": 4264.5625,
                        "z": 361.3742980957031
                    },
                    "rotation": {
                        "roll": 0.0008227349608205259,
                        "pitch": -0.5932906866073608,
                        "yaw": -170.72108459472656
                    }
                },
                "velocity": {
                    "x": -9.658148765563965,
                    "y": -1.5785622596740723,
                    "z": -0.09094811975955963
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.466337203979492,
                "transform": {
                    "location": {
                        "x": 2985.00146484375,
                        "y": 4261.16796875,
                        "z": 361.1687316894531
                    },
                    "rotation": {
                        "roll": 0.002559258369728923,
                        "pitch": -0.5202623009681702,
                        "yaw": -170.92669677734375
                    }
                },
                "velocity": {
                    "x": -5.396320819854736,
                    "y": -0.8706832528114319,
                    "z": -0.0497097484767437
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.200599670410156,
                "transform": {
                    "location": {
                        "x": 3002.78857421875,
                        "y": 4267.34228515625,
                        "z": 361.3424987792969
                    },
                    "rotation": {
                        "roll": 0.004171034786850214,
                        "pitch": -1.062831997871399,
                        "yaw": -170.78390502929688
                    }
                },
                "velocity": {
                    "x": -6.120551586151123,
                    "y": -0.9914669394493103,
                    "z": -0.05725084990262985
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.979921817779541,
                "transform": {
                    "location": {
                        "x": 2986.0380859375,
                        "y": 4264.63232421875,
                        "z": 361.1910400390625
                    },
                    "rotation": {
                        "roll": 2.3582630092278123e-05,
                        "pitch": -0.36129650473594666,
                        "yaw": -170.7860107421875
                    }
                },
                "velocity": {
                    "x": -3.928419351577759,
                    "y": -0.637244701385498,
                    "z": -0.03488016873598099
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21164827048778534,
        "expert_target_speed": 5.726048136427914,
        "target_point": [
            39.03661309614358,
            0.8284559012299235
        ],
        "target_point_next": [
            90.02950704000318,
            1.6832263767088573
        ]
    },
    "115": {
        "acceleration": [
            -1.5571975708007812,
            -0.27335405349731445,
            -0.057497620582580566
        ],
        "angular_velocity": [
            -0.04715193435549736,
            -0.10811938345432281,
            2.6116371154785156
        ],
        "forward_vector": [
            -0.9895182251930237,
            -0.14427919685840607,
            -0.006099662743508816
        ],
        "right_vector": [
            0.14428195357322693,
            -0.9895366430282593,
            -1.16736036943621e-05
        ],
        "location": [
            3028.239013671875,
            4268.46337890625,
            361.57916259765625
        ],
        "rotation": [
            0.0006688606808893383,
            -0.3494870960712433,
            -171.7042999267578
        ],
        "velocity": [
            -5.085826873779297,
            -0.7459672093391418,
            -0.047176752239465714
        ],
        "speed": 5.140243386014413,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.933094024658203,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3003.675048828125,
                4264.19482421875,
                361.35498046875
            ],
            "velocity": [
                -8.40174674987793,
                -1.3672757148742676,
                -0.07878393679857254
            ],
            "speed_kmh": 30.64549521818725,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.617853164672852,
                "transform": {
                    "location": {
                        "x": 2962.261474609375,
                        "y": 4267.47998046875,
                        "z": 360.9866638183594
                    },
                    "rotation": {
                        "roll": -0.0186462365090847,
                        "pitch": 0.33893445134162903,
                        "yaw": 9.534163475036621
                    }
                },
                "velocity": {
                    "x": 6.52318000793457,
                    "y": 1.1138631105422974,
                    "z": 0.05843843147158623
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.655760765075684,
                "transform": {
                    "location": {
                        "x": 2964.292724609375,
                        "y": 4264.52490234375,
                        "z": 361.0029296875
                    },
                    "rotation": {
                        "roll": -0.015716547146439552,
                        "pitch": 0.467048317193985,
                        "yaw": 9.720348358154297
                    }
                },
                "velocity": {
                    "x": 6.55737829208374,
                    "y": 1.1387996673583984,
                    "z": 0.0554494746029377
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.017160415649414,
                "transform": {
                    "location": {
                        "x": 3003.5400390625,
                        "y": 4274.24951171875,
                        "z": 361.3548278808594
                    },
                    "rotation": {
                        "roll": -0.0013732980005443096,
                        "pitch": 0.5349950194358826,
                        "yaw": 9.18954849243164
                    }
                },
                "velocity": {
                    "x": 7.913908004760742,
                    "y": 1.280355453491211,
                    "z": 0.0749029889702797
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.074446678161621,
                "transform": {
                    "location": {
                        "x": 3004.943115234375,
                        "y": 4271.18408203125,
                        "z": 361.36517333984375
                    },
                    "rotation": {
                        "roll": 0.0006326170405372977,
                        "pitch": 0.5343188643455505,
                        "yaw": 9.192315101623535
                    }
                },
                "velocity": {
                    "x": 7.970393657684326,
                    "y": 1.289839267730713,
                    "z": 0.07629755139350891
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.512638092041016,
                "transform": {
                    "location": {
                        "x": 3003.675048828125,
                        "y": 4264.19482421875,
                        "z": 361.35498046875
                    },
                    "rotation": {
                        "roll": 0.0037571198772639036,
                        "pitch": -0.8391706347465515,
                        "yaw": -170.74908447265625
                    }
                },
                "velocity": {
                    "x": -8.40174674987793,
                    "y": -1.3672757148742676,
                    "z": -0.07878393679857254
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.449625015258789,
                "transform": {
                    "location": {
                        "x": 2983.5244140625,
                        "y": 4260.92919921875,
                        "z": 361.1548767089844
                    },
                    "rotation": {
                        "roll": 0.005792626179754734,
                        "pitch": -0.4982964098453522,
                        "yaw": -171.21011352539062
                    }
                },
                "velocity": {
                    "x": -6.368534564971924,
                    "y": -1.0178203582763672,
                    "z": -0.05893995985388756
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.36555814743042,
                "transform": {
                    "location": {
                        "x": 3001.90283203125,
                        "y": 4267.1982421875,
                        "z": 361.33685302734375
                    },
                    "rotation": {
                        "roll": 0.002228084485977888,
                        "pitch": -1.8722845315933228,
                        "yaw": -170.79600524902344
                    }
                },
                "velocity": {
                    "x": -2.33510684967041,
                    "y": -0.37770482897758484,
                    "z": -0.021920140832662582
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.9984612464904785,
                "transform": {
                    "location": {
                        "x": 2984.935302734375,
                        "y": 4264.453125,
                        "z": 361.1805725097656
                    },
                    "rotation": {
                        "roll": -0.00015259096107911319,
                        "pitch": -0.31341004371643066,
                        "yaw": -170.7860107421875
                    }
                },
                "velocity": {
                    "x": -4.933765888214111,
                    "y": -0.8002825975418091,
                    "z": -0.0460205003619194
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22809389233589172,
        "expert_target_speed": 6.141484450672723,
        "target_point": [
            37.80491345743064,
            0.7845987568761394
        ],
        "target_point_next": [
            88.79873777703821,
            1.581935948071619
        ]
    },
    "120": {
        "acceleration": [
            0.6916618347167969,
            0.049686431884765625,
            -0.007286593317985535
        ],
        "angular_velocity": [
            0.11171914637088776,
            -0.49147769808769226,
            -2.7455711364746094
        ],
        "forward_vector": [
            -0.9893755912780762,
            -0.14513128995895386,
            -0.008531466126441956
        ],
        "right_vector": [
            0.14513558149337769,
            -0.9894117712974548,
            0.00011877272481797263
        ],
        "location": [
            3026.992431640625,
            4268.27880859375,
            361.5676574707031
        ],
        "rotation": [
            -0.006805424112826586,
            -0.48882293701171875,
            -171.65481567382812
        ],
        "velocity": [
            -4.9639058113098145,
            -0.7425140738487244,
            -0.048397619277238846
        ],
        "speed": 5.019132201229489,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.714683532714844,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3001.66015625,
                4263.86669921875,
                361.33526611328125
            ],
            "velocity": [
                -7.9508209228515625,
                -1.2906858921051025,
                -0.07550206780433655
            ],
            "speed_kmh": 28.998915959070363,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.79645299911499,
                "transform": {
                    "location": {
                        "x": 2963.915771484375,
                        "y": 4267.7646484375,
                        "z": 361.00115966796875
                    },
                    "rotation": {
                        "roll": -0.009735107421875,
                        "pitch": 0.4526093006134033,
                        "yaw": 9.737794876098633
                    }
                },
                "velocity": {
                    "x": 6.696815490722656,
                    "y": 1.1581093072891235,
                    "z": 0.05677765607833862
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.9912495613098145,
                "transform": {
                    "location": {
                        "x": 2965.908447265625,
                        "y": 4264.8046875,
                        "z": 361.01776123046875
                    },
                    "rotation": {
                        "roll": 0.007259131874889135,
                        "pitch": 0.39820000529289246,
                        "yaw": 9.86353874206543
                    }
                },
                "velocity": {
                    "x": 5.90415096282959,
                    "y": 1.0165008306503296,
                    "z": 0.052863579243421555
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.983889102935791,
                "transform": {
                    "location": {
                        "x": 3005.514404296875,
                        "y": 4274.56884765625,
                        "z": 361.37347412109375
                    },
                    "rotation": {
                        "roll": -0.0004272488586138934,
                        "pitch": 0.5337314605712891,
                        "yaw": 9.188920974731445
                    }
                },
                "velocity": {
                    "x": 7.881071090698242,
                    "y": 1.2749426364898682,
                    "z": 0.07565729320049286
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.046152114868164,
                "transform": {
                    "location": {
                        "x": 3006.93212890625,
                        "y": 4271.505859375,
                        "z": 361.3839416503906
                    },
                    "rotation": {
                        "roll": 0.00048734579468145967,
                        "pitch": 0.533909022808075,
                        "yaw": 9.193391799926758
                    }
                },
                "velocity": {
                    "x": 7.942330360412598,
                    "y": 1.2861971855163574,
                    "z": 0.07518485933542252
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.055253982543945,
                "transform": {
                    "location": {
                        "x": 3001.66015625,
                        "y": 4263.86669921875,
                        "z": 361.33526611328125
                    },
                    "rotation": {
                        "roll": 0.0028935354202985764,
                        "pitch": -0.7225314974784851,
                        "yaw": -170.80462646484375
                    }
                },
                "velocity": {
                    "x": -7.9508209228515625,
                    "y": -1.2906858921051025,
                    "z": -0.07550206780433655
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.209855079650879,
                "transform": {
                    "location": {
                        "x": 2981.84765625,
                        "y": 4260.66259765625,
                        "z": 361.1393737792969
                    },
                    "rotation": {
                        "roll": 0.0020736113656312227,
                        "pitch": -0.49966245889663696,
                        "yaw": -170.98684692382812
                    }
                },
                "velocity": {
                    "x": -7.1180901527404785,
                    "y": -1.1447629928588867,
                    "z": -0.06575468182563782
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.333308696746826,
                "transform": {
                    "location": {
                        "x": 3001.20654296875,
                        "y": 4267.08544921875,
                        "z": 361.3266296386719
                    },
                    "rotation": {
                        "roll": 0.00015040092694107443,
                        "pitch": -0.8543063402175903,
                        "yaw": -170.7970733642578
                    }
                },
                "velocity": {
                    "x": -3.290313959121704,
                    "y": -0.5328025817871094,
                    "z": -0.030036740005016327
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.215353965759277,
                "transform": {
                    "location": {
                        "x": 2983.681396484375,
                        "y": 4264.24951171875,
                        "z": 361.17010498046875
                    },
                    "rotation": {
                        "roll": 0.0002586109039839357,
                        "pitch": -0.4377467930316925,
                        "yaw": -170.78871154785156
                    }
                },
                "velocity": {
                    "x": -5.148038387298584,
                    "y": -0.8338901996612549,
                    "z": -0.047357380390167236
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2360602766275406,
        "expert_target_speed": 6.034250256515118,
        "target_point": [
            36.54540624037586,
            0.7502604223729357
        ],
        "target_point_next": [
            87.53990008848584,
            1.5035614979984189
        ]
    },
    "125": {
        "acceleration": [
            2.409219741821289,
            0.323331356048584,
            0.03833606839179993
        ],
        "angular_velocity": [
            0.10539793968200684,
            -0.5314620137214661,
            1.0863312482833862
        ],
        "forward_vector": [
            -0.9888013005256653,
            -0.14894022047519684,
            -0.009421088732779026
        ],
        "right_vector": [
            0.14894402027130127,
            -0.9888455867767334,
            0.0003009237698279321
        ],
        "location": [
            3025.748779296875,
            4268.09033203125,
            361.55572509765625
        ],
        "rotation": [
            -0.0172424279153347,
            -0.5397966504096985,
            -171.43409729003906
        ],
        "velocity": [
            -4.916247367858887,
            -0.7551854252815247,
            -0.04752141982316971
        ],
        "speed": 4.973911258610981,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.540231704711914,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2999.603759765625,
                4263.53369140625,
                361.3132019042969
            ],
            "velocity": [
                -8.599844932556152,
                -1.3917820453643799,
                -0.0803256705403328
            ],
            "speed_kmh": 31.363592216381875,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0504536628723145,
                "transform": {
                    "location": {
                        "x": 3040.800048828125,
                        "y": 4270.2998046875,
                        "z": 362.0520324707031
                    },
                    "rotation": {
                        "roll": 3.335208553778557e-09,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -4.881284713745117,
                    "y": -0.7898595929145813,
                    "z": -1.0277472734451294
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.138831615447998,
                "transform": {
                    "location": {
                        "x": 3040.052734375,
                        "y": 4273.4716796875,
                        "z": 361.8979187011719
                    },
                    "rotation": {
                        "roll": 3.335208553778557e-09,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -3.5797080993652344,
                    "y": -0.579246461391449,
                    "z": -1.99501633644104
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.577674865722656,
                "transform": {
                    "location": {
                        "x": 2965.403076171875,
                        "y": 4268.02197265625,
                        "z": 361.01373291015625
                    },
                    "rotation": {
                        "roll": 0.008128637447953224,
                        "pitch": 0.31184592843055725,
                        "yaw": 9.802755355834961
                    }
                },
                "velocity": {
                    "x": 5.497600078582764,
                    "y": 0.9404967427253723,
                    "z": 0.048124559223651886
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.1471099853515625,
                "transform": {
                    "location": {
                        "x": 2967.256103515625,
                        "y": 4265.03515625,
                        "z": 361.03082275390625
                    },
                    "rotation": {
                        "roll": 0.019129138439893723,
                        "pitch": 0.24222581088542938,
                        "yaw": 9.755195617675781
                    }
                },
                "velocity": {
                    "x": 5.074545383453369,
                    "y": 0.8601148128509521,
                    "z": 0.043954428285360336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016231536865234,
                "transform": {
                    "location": {
                        "x": 3007.48876953125,
                        "y": 4274.88818359375,
                        "z": 361.39208984375
                    },
                    "rotation": {
                        "roll": -9.155119187198579e-05,
                        "pitch": 0.5343188643455505,
                        "yaw": 9.191786766052246
                    }
                },
                "velocity": {
                    "x": 7.912935733795166,
                    "y": 1.2804838418960571,
                    "z": 0.07598491758108139
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077446937561035,
                "transform": {
                    "location": {
                        "x": 3008.921875,
                        "y": 4271.828125,
                        "z": 361.4026794433594
                    },
                    "rotation": {
                        "roll": 0.00036548436037264764,
                        "pitch": 0.5340251326560974,
                        "yaw": 9.195073127746582
                    }
                },
                "velocity": {
                    "x": 7.973293304443359,
                    "y": 1.2906935214996338,
                    "z": 0.07655855268239975
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.712109565734863,
                "transform": {
                    "location": {
                        "x": 2999.603759765625,
                        "y": 4263.53369140625,
                        "z": 361.3132019042969
                    },
                    "rotation": {
                        "roll": 0.0020184519235044718,
                        "pitch": -0.3936784267425537,
                        "yaw": -170.8111114501953
                    }
                },
                "velocity": {
                    "x": -8.599844932556152,
                    "y": -1.3917820453643799,
                    "z": -0.0803256705403328
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.776206970214844,
                "transform": {
                    "location": {
                        "x": 2980.092529296875,
                        "y": 4260.3798828125,
                        "z": 361.12359619140625
                    },
                    "rotation": {
                        "roll": -0.0014343223301693797,
                        "pitch": -0.5216420292854309,
                        "yaw": -170.70005798339844
                    }
                },
                "velocity": {
                    "x": -6.687189102172852,
                    "y": -1.093095302581787,
                    "z": -0.06019146740436554
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.703693389892578,
                "transform": {
                    "location": {
                        "x": 3000.197998046875,
                        "y": 4266.921875,
                        "z": 361.31500244140625
                    },
                    "rotation": {
                        "roll": -0.00018310929590370506,
                        "pitch": -0.23497898876667023,
                        "yaw": -170.79681396484375
                    }
                },
                "velocity": {
                    "x": -4.642964839935303,
                    "y": -0.7521807551383972,
                    "z": -0.04284577816724777
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.446824073791504,
                "transform": {
                    "location": {
                        "x": 2982.295654296875,
                        "y": 4264.025390625,
                        "z": 361.1564025878906
                    },
                    "rotation": {
                        "roll": 0.0005692017148248851,
                        "pitch": -0.33660537004470825,
                        "yaw": -170.79367065429688
                    }
                },
                "velocity": {
                    "x": -6.363966941833496,
                    "y": -1.0285849571228027,
                    "z": -0.05894990265369415
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2451959252357483,
        "expert_target_speed": 6.001340081128255,
        "target_point": [
            35.290172687082325,
            0.608332934312636
        ],
        "target_point_next": [
            86.28719012311484,
            1.1651793803459896
        ]
    },
    "130": {
        "acceleration": [
            1.4849662780761719,
            0.16296625137329102,
            0.0032320618629455566
        ],
        "angular_velocity": [
            -0.017416341230273247,
            -0.22516942024230957,
            5.099720001220703
        ],
        "forward_vector": [
            -0.9880837798118591,
            -0.15363720059394836,
            -0.009278878569602966
        ],
        "right_vector": [
            0.15363971889019012,
            -0.988126814365387,
            0.00044472867739386857
        ],
        "location": [
            3024.49365234375,
            4267.8955078125,
            361.54351806640625
        ],
        "rotation": [
            -0.02548217587172985,
            -0.5316482186317444,
            -171.16184997558594
        ],
        "velocity": [
            -5.021901607513428,
            -0.7948229312896729,
            -0.04847333952784538
        ],
        "speed": 5.0844113963810855,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.534128189086914,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2997.368896484375,
                4263.171875,
                361.2923278808594
            ],
            "velocity": [
                -8.888946533203125,
                -1.438620686531067,
                -0.0832376480102539
            ],
            "speed_kmh": 32.417980701896475,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.982925891876221,
                "transform": {
                    "location": {
                        "x": 3039.58984375,
                        "y": 4270.10107421875,
                        "z": 361.6441955566406
                    },
                    "rotation": {
                        "roll": -0.026245107874274254,
                        "pitch": -0.5704368948936462,
                        "yaw": -170.70277404785156
                    }
                },
                "velocity": {
                    "x": -4.806682109832764,
                    "y": -0.8191302418708801,
                    "z": -1.0268324613571167
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5986080169677734,
                "transform": {
                    "location": {
                        "x": 3039.172119140625,
                        "y": 4273.32568359375,
                        "z": 361.62200927734375
                    },
                    "rotation": {
                        "roll": -0.0035095172934234142,
                        "pitch": -0.5542288422584534,
                        "yaw": -170.67605590820312
                    }
                },
                "velocity": {
                    "x": -3.5457212924957275,
                    "y": -0.6077418327331543,
                    "z": 0.09214106947183609
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.70173978805542,
                "transform": {
                    "location": {
                        "x": 2966.7822265625,
                        "y": 4268.255859375,
                        "z": 361.02569580078125
                    },
                    "rotation": {
                        "roll": 0.011833181604743004,
                        "pitch": 0.4688514769077301,
                        "yaw": 9.660244941711426
                    }
                },
                "velocity": {
                    "x": 5.62209415435791,
                    "y": 0.9484462738037109,
                    "z": 0.04843197762966156
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.603809833526611,
                "transform": {
                    "location": {
                        "x": 2968.5380859375,
                        "y": 4265.2529296875,
                        "z": 361.0397033691406
                    },
                    "rotation": {
                        "roll": 0.008538665249943733,
                        "pitch": 0.5107956528663635,
                        "yaw": 9.645294189453125
                    }
                },
                "velocity": {
                    "x": 5.525827407836914,
                    "y": 0.930335521697998,
                    "z": 0.04889018088579178
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.983986854553223,
                "transform": {
                    "location": {
                        "x": 3009.462646484375,
                        "y": 4275.20703125,
                        "z": 361.4108581542969
                    },
                    "rotation": {
                        "roll": 1.2040070942020975e-05,
                        "pitch": 0.5374265909194946,
                        "yaw": 9.192693710327148
                    }
                },
                "velocity": {
                    "x": 7.881102561950684,
                    "y": 1.275359869003296,
                    "z": 0.07568101584911346
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.042974472045898,
                "transform": {
                    "location": {
                        "x": 3010.91064453125,
                        "y": 4272.14990234375,
                        "z": 361.421630859375
                    },
                    "rotation": {
                        "roll": 0.00027974339900538325,
                        "pitch": 0.5411353707313538,
                        "yaw": 9.195287704467773
                    }
                },
                "velocity": {
                    "x": 7.939270973205566,
                    "y": 1.2851948738098145,
                    "z": 0.07545499503612518
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.00499439239502,
                "transform": {
                    "location": {
                        "x": 2997.368896484375,
                        "y": 4263.171875,
                        "z": 361.2923278808594
                    },
                    "rotation": {
                        "roll": 0.0007129329605959356,
                        "pitch": -0.37515494227409363,
                        "yaw": -170.80711364746094
                    }
                },
                "velocity": {
                    "x": -8.888946533203125,
                    "y": -1.438620686531067,
                    "z": -0.0832376480102539
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.835136890411377,
                "transform": {
                    "location": {
                        "x": 2978.558349609375,
                        "y": 4260.12939453125,
                        "z": 361.10980224609375
                    },
                    "rotation": {
                        "roll": -0.0016174261691048741,
                        "pitch": -0.5285336971282959,
                        "yaw": -170.59344482421875
                    }
                },
                "velocity": {
                    "x": -5.757906436920166,
                    "y": -0.9447506666183472,
                    "z": -0.052686657756567
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.4276251792907715,
                "transform": {
                    "location": {
                        "x": 2998.90576171875,
                        "y": 4266.71240234375,
                        "z": 361.3030090332031
                    },
                    "rotation": {
                        "roll": 0.0011975395027548075,
                        "pitch": -0.17187486588954926,
                        "yaw": -170.81112670898438
                    }
                },
                "velocity": {
                    "x": -5.357601165771484,
                    "y": -0.8675941228866577,
                    "z": -0.05003473162651062
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.828248977661133,
                "transform": {
                    "location": {
                        "x": 2980.514892578125,
                        "y": 4263.7373046875,
                        "z": 361.1384582519531
                    },
                    "rotation": {
                        "roll": -0.004882813896983862,
                        "pitch": -0.14324955642223358,
                        "yaw": -170.70166015625
                    }
                },
                "velocity": {
                    "x": -7.726735591888428,
                    "y": -1.2545990943908691,
                    "z": -0.07086184620857239
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.239076629281044,
        "expert_target_speed": 6.108731052291992,
        "target_point": [
            34.02250739827616,
            0.44097069642448616
        ],
        "target_point_next": [
            85.02159506514212,
            0.7554901438102082
        ]
    },
    "135": {
        "acceleration": [
            1.0971450805664062,
            0.12087345123291016,
            -0.015697702765464783
        ],
        "angular_velocity": [
            0.14114965498447418,
            -0.3511253893375397,
            -2.7813732624053955
        ],
        "forward_vector": [
            -0.987583339214325,
            -0.1568371057510376,
            -0.009010430425405502
        ],
        "right_vector": [
            0.15683868527412415,
            -0.9876241087913513,
            0.0005358061171136796
        ],
        "location": [
            3023.223876953125,
            4267.69189453125,
            361.5310974121094
        ],
        "rotation": [
            -0.030700678005814552,
            -0.5162666440010071,
            -170.9762725830078
        ],
        "velocity": [
            -5.100418567657471,
            -0.8296927213668823,
            -0.04940680414438248
        ],
        "speed": 5.167461618357147,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.45194435119629,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2995.193359375,
                4262.81982421875,
                361.2737121582031
            ],
            "velocity": [
                -8.717047691345215,
                -1.4111385345458984,
                -0.08013176918029785
            ],
            "speed_kmh": 31.791211200333315,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.925655364990234,
                "transform": {
                    "location": {
                        "x": 3038.3828125,
                        "y": 4269.89599609375,
                        "z": 361.6072998046875
                    },
                    "rotation": {
                        "roll": -0.019226068630814552,
                        "pitch": -0.5552328824996948,
                        "yaw": -170.47738647460938
                    }
                },
                "velocity": {
                    "x": -4.84351110458374,
                    "y": -0.8348309397697449,
                    "z": 0.3248608410358429
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.57662296295166,
                "transform": {
                    "location": {
                        "x": 3038.28857421875,
                        "y": 4273.17578125,
                        "z": 361.6662292480469
                    },
                    "rotation": {
                        "roll": -0.0043640173971652985,
                        "pitch": -0.5491949915885925,
                        "yaw": -170.49024963378906
                    }
                },
                "velocity": {
                    "x": -3.5232534408569336,
                    "y": -0.6067866086959839,
                    "z": 0.10356860607862473
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.6046648025512695,
                "transform": {
                    "location": {
                        "x": 2968.369873046875,
                        "y": 4268.52294921875,
                        "z": 361.0395202636719
                    },
                    "rotation": {
                        "roll": 0.00868754182010889,
                        "pitch": 0.8099784255027771,
                        "yaw": 9.572385787963867
                    }
                },
                "velocity": {
                    "x": 7.499301433563232,
                    "y": 1.2598233222961426,
                    "z": 0.06519804149866104
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.476147174835205,
                "transform": {
                    "location": {
                        "x": 2970.19873046875,
                        "y": 4265.53271484375,
                        "z": 361.0502624511719
                    },
                    "rotation": {
                        "roll": 0.0074116080068051815,
                        "pitch": 0.9870237708091736,
                        "yaw": 9.555931091308594
                    }
                },
                "velocity": {
                    "x": 7.3726959228515625,
                    "y": 1.2377644777297974,
                    "z": 0.06380939483642578
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016107559204102,
                "transform": {
                    "location": {
                        "x": 3011.43701171875,
                        "y": 4275.5263671875,
                        "z": 361.4296875
                    },
                    "rotation": {
                        "roll": -0.0006103556952439249,
                        "pitch": 0.5448715090751648,
                        "yaw": 9.19491958618164
                    }
                },
                "velocity": {
                    "x": 7.912747859954834,
                    "y": 1.2808303833007812,
                    "z": 0.07662507891654968
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078065872192383,
                "transform": {
                    "location": {
                        "x": 3012.900146484375,
                        "y": 4272.47216796875,
                        "z": 361.4406433105469
                    },
                    "rotation": {
                        "roll": 8.025834540603682e-05,
                        "pitch": 0.5447075366973877,
                        "yaw": 9.195167541503906
                    }
                },
                "velocity": {
                    "x": 7.973897457122803,
                    "y": 1.2908152341842651,
                    "z": 0.07679841667413712
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.830892562866211,
                "transform": {
                    "location": {
                        "x": 2995.193359375,
                        "y": 4262.81982421875,
                        "z": 361.2737121582031
                    },
                    "rotation": {
                        "roll": -9.155557927442715e-05,
                        "pitch": -0.6011317372322083,
                        "yaw": -170.80398559570312
                    }
                },
                "velocity": {
                    "x": -8.717047691345215,
                    "y": -1.4111385345458984,
                    "z": -0.08013176918029785
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.148650169372559,
                "transform": {
                    "location": {
                        "x": 2977.185546875,
                        "y": 4259.904296875,
                        "z": 361.0973815917969
                    },
                    "rotation": {
                        "roll": 6.431921065086499e-05,
                        "pitch": -0.5255352258682251,
                        "yaw": -170.77455139160156
                    }
                },
                "velocity": {
                    "x": -5.083225727081299,
                    "y": -0.8169019222259521,
                    "z": -0.04569380730390549
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.696106910705566,
                "transform": {
                    "location": {
                        "x": 2997.456787109375,
                        "y": 4266.47802734375,
                        "z": 361.28900146484375
                    },
                    "rotation": {
                        "roll": 0.001600019633769989,
                        "pitch": -0.060822829604148865,
                        "yaw": -170.81051635742188
                    }
                },
                "velocity": {
                    "x": -6.609877586364746,
                    "y": -1.06936776638031,
                    "z": -0.061761777848005295
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.252079963684082,
                "transform": {
                    "location": {
                        "x": 2978.49462890625,
                        "y": 4263.4091796875,
                        "z": 361.1217041015625
                    },
                    "rotation": {
                        "roll": 0.00155345955863595,
                        "pitch": -0.3471648395061493,
                        "yaw": -170.7630157470703
                    }
                },
                "velocity": {
                    "x": -8.1454439163208,
                    "y": -1.3202826976776123,
                    "z": -0.07352880388498306
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23431694507598877,
        "expert_target_speed": 6.187717961942724,
        "target_point": [
            32.73776173091513,
            0.32884316500850996
        ],
        "target_point_next": [
            83.73760055783323,
            0.4781916294866946
        ]
    },
    "140": {
        "acceleration": [
            0.2070140838623047,
            -0.043588876724243164,
            0.01334451138973236
        ],
        "angular_velocity": [
            -0.049462854862213135,
            -0.03865952044725418,
            4.294814109802246
        ],
        "forward_vector": [
            -0.9869399666786194,
            -0.16076715290546417,
            -0.010164442472159863
        ],
        "right_vector": [
            0.16077063977718353,
            -0.9869916439056396,
            0.0004804094787687063
        ],
        "location": [
            3021.97119140625,
            4267.4873046875,
            361.519287109375
        ],
        "rotation": [
            -0.0275268591940403,
            -0.5823897123336792,
            -170.7480926513672
        ],
        "velocity": [
            -4.966737747192383,
            -0.8248043656349182,
            -0.04822425916790962
        ],
        "speed": 5.034757798638986,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 90.83427429199219,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.6931440830230713,
                "transform": {
                    "location": {
                        "x": 3037.357421875,
                        "y": 4269.72021484375,
                        "z": 361.68267822265625
                    },
                    "rotation": {
                        "roll": -0.003753658616915345,
                        "pitch": -0.8042001128196716,
                        "yaw": -170.35317993164062
                    }
                },
                "velocity": {
                    "x": -3.6358983516693115,
                    "y": -0.6289426684379578,
                    "z": 0.15487562119960785
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.8293650150299072,
                "transform": {
                    "location": {
                        "x": 3037.387939453125,
                        "y": 4273.02197265625,
                        "z": 361.67095947265625
                    },
                    "rotation": {
                        "roll": -0.004791265819221735,
                        "pitch": -0.5427541136741638,
                        "yaw": -170.36619567871094
                    }
                },
                "velocity": {
                    "x": -3.773423433303833,
                    "y": -0.6515520811080933,
                    "z": -0.028116043657064438
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.357232093811035,
                "transform": {
                    "location": {
                        "x": 2970.409423828125,
                        "y": 4268.86474609375,
                        "z": 361.05718994140625
                    },
                    "rotation": {
                        "roll": 0.011919083073735237,
                        "pitch": 0.7029151916503906,
                        "yaw": 9.507925033569336
                    }
                },
                "velocity": {
                    "x": 8.243630409240723,
                    "y": 1.371393084526062,
                    "z": 0.07181794941425323
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.686066627502441,
                "transform": {
                    "location": {
                        "x": 2972.1728515625,
                        "y": 4265.861328125,
                        "z": 361.06866455078125
                    },
                    "rotation": {
                        "roll": 0.014697042293846607,
                        "pitch": 0.850174069404602,
                        "yaw": 9.564053535461426
                    }
                },
                "velocity": {
                    "x": 8.569084167480469,
                    "y": 1.418771743774414,
                    "z": 0.07507488131523132
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.983722686767578,
                "transform": {
                    "location": {
                        "x": 3013.4111328125,
                        "y": 4275.845703125,
                        "z": 361.4486389160156
                    },
                    "rotation": {
                        "roll": 0.001335395616479218,
                        "pitch": 0.544666588306427,
                        "yaw": 9.195626258850098
                    }
                },
                "velocity": {
                    "x": 7.88076639175415,
                    "y": 1.2757573127746582,
                    "z": 0.07611627131700516
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043234825134277,
                "transform": {
                    "location": {
                        "x": 3014.889404296875,
                        "y": 4272.7939453125,
                        "z": 361.4597473144531
                    },
                    "rotation": {
                        "roll": 5.5294342018896714e-05,
                        "pitch": 0.5441064834594727,
                        "yaw": 9.194233894348145
                    }
                },
                "velocity": {
                    "x": 7.939667701721191,
                    "y": 1.2843323945999146,
                    "z": 0.07617038488388062
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.102143287658691,
                "transform": {
                    "location": {
                        "x": 2995.62646484375,
                        "y": 4266.181640625,
                        "z": 361.27142333984375
                    },
                    "rotation": {
                        "roll": 0.0010997256031259894,
                        "pitch": 0.058439094573259354,
                        "yaw": -170.8095245361328
                    }
                },
                "velocity": {
                    "x": -7.997818470001221,
                    "y": -1.2938569784164429,
                    "z": -0.07454589009284973
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.142672061920166,
                "transform": {
                    "location": {
                        "x": 2976.591552734375,
                        "y": 4263.10009765625,
                        "z": 361.1083984375
                    },
                    "rotation": {
                        "roll": 0.0014670693781226873,
                        "pitch": -0.8088377714157104,
                        "yaw": -170.79483032226562
                    }
                },
                "velocity": {
                    "x": -6.063387870788574,
                    "y": -0.9822396636009216,
                    "z": -0.05438414588570595
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23132938146591187,
        "expert_target_speed": 6.114265584506757,
        "target_point": [
            31.4695293411653,
            0.19793391256754944
        ],
        "target_point_next": [
            82.46955850841174,
            0.14417263023975657
        ]
    },
    "145": {
        "acceleration": [
            -0.2762317657470703,
            -0.04173636436462402,
            0.0037860870361328125
        ],
        "angular_velocity": [
            0.030052924528717995,
            0.14586953818798065,
            -3.103346586227417
        ],
        "forward_vector": [
            -0.9866839051246643,
            -0.1623517870903015,
            -0.009839734062552452
        ],
        "right_vector": [
            0.16235700249671936,
            -0.986732006072998,
            0.0002694987924769521
        ],
        "location": [
            3020.728759765625,
            4267.28125,
            361.5071716308594
        ],
        "rotation": [
            -0.015441890805959702,
            -0.5637843012809753,
            -170.65611267089844
        ],
        "velocity": [
            -4.9907989501953125,
            -0.8297786712646484,
            -0.04874694347381592
        ],
        "speed": 5.0593089255901695,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 89.57486724853516,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.971838474273682,
                "transform": {
                    "location": {
                        "x": 3036.319091796875,
                        "y": 4269.541015625,
                        "z": 361.6788330078125
                    },
                    "rotation": {
                        "roll": -0.005310057196766138,
                        "pitch": -0.41384798288345337,
                        "yaw": -170.27256774902344
                    }
                },
                "velocity": {
                    "x": -4.897910118103027,
                    "y": -0.8483389616012573,
                    "z": -0.09988807141780853
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.657276153564453,
                "transform": {
                    "location": {
                        "x": 3036.345947265625,
                        "y": 4272.84228515625,
                        "z": 361.66033935546875
                    },
                    "rotation": {
                        "roll": -0.005981444846838713,
                        "pitch": -0.5245038866996765,
                        "yaw": -170.28030395507812
                    }
                },
                "velocity": {
                    "x": -4.588924884796143,
                    "y": -0.7935713529586792,
                    "z": -0.04727432131767273
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.798771381378174,
                "transform": {
                    "location": {
                        "x": 2972.38720703125,
                        "y": 4269.19189453125,
                        "z": 361.07452392578125
                    },
                    "rotation": {
                        "roll": 0.011418495327234268,
                        "pitch": 0.4608669877052307,
                        "yaw": 9.387555122375488
                    }
                },
                "velocity": {
                    "x": 7.694666385650635,
                    "y": 1.2681808471679688,
                    "z": 0.0682680532336235
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.27319049835205,
                "transform": {
                    "location": {
                        "x": 2974.267333984375,
                        "y": 4266.20849609375,
                        "z": 361.0902404785156
                    },
                    "rotation": {
                        "roll": 0.007912219502031803,
                        "pitch": 0.47865280508995056,
                        "yaw": 9.397704124450684
                    }
                },
                "velocity": {
                    "x": 8.163087844848633,
                    "y": 1.3431659936904907,
                    "z": 0.07473047077655792
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.994646072387695,
                "transform": {
                    "location": {
                        "x": 3015.384521484375,
                        "y": 4276.1650390625,
                        "z": 361.4676208496094
                    },
                    "rotation": {
                        "roll": 0.00016632993356324732,
                        "pitch": 0.5441133379936218,
                        "yaw": 9.199076652526855
                    }
                },
                "velocity": {
                    "x": 7.891476154327393,
                    "y": 1.2779505252838135,
                    "z": 0.0762806311249733
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.87733793258667,
                "transform": {
                    "location": {
                        "x": 3016.861083984375,
                        "y": 4273.11279296875,
                        "z": 361.47869873046875
                    },
                    "rotation": {
                        "roll": -0.0011596695985645056,
                        "pitch": 0.5406299233436584,
                        "yaw": 9.191160202026367
                    }
                },
                "velocity": {
                    "x": 7.775984287261963,
                    "y": 1.25729501247406,
                    "z": 0.07569888979196548
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.029180526733398,
                "transform": {
                    "location": {
                        "x": 2993.537353515625,
                        "y": 4265.84375,
                        "z": 361.2522277832031
                    },
                    "rotation": {
                        "roll": -9.1552734375e-05,
                        "pitch": -0.010832679457962513,
                        "yaw": -170.80567932128906
                    }
                },
                "velocity": {
                    "x": -8.912808418273926,
                    "y": -1.4425556659698486,
                    "z": -0.08357582986354828
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.011720180511475,
                "transform": {
                    "location": {
                        "x": 2975.15625,
                        "y": 4262.8681640625,
                        "z": 361.0958251953125
                    },
                    "rotation": {
                        "roll": 0.0017421295633539557,
                        "pitch": -0.834225594997406,
                        "yaw": -170.81224060058594
                    }
                },
                "velocity": {
                    "x": -5.934535503387451,
                    "y": -0.9587568640708923,
                    "z": -0.05338432639837265
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21440114080905914,
        "expert_target_speed": 6.136791008615844,
        "target_point": [
            30.210404980434514,
            0.14580921527690283
        ],
        "target_point_next": [
            81.21028210293144,
            0.010166944291874813
        ]
    },
    "150": {
        "acceleration": [
            -0.5370903015136719,
            -0.11295676231384277,
            -0.008720830082893372
        ],
        "angular_velocity": [
            -0.10404953360557556,
            0.11199498176574707,
            3.6447598934173584
        ],
        "forward_vector": [
            -0.9864077568054199,
            -0.16405950486660004,
            -0.00918196514248848
        ],
        "right_vector": [
            0.16406458616256714,
            -0.9864495992660522,
            0.0002029242314165458
        ],
        "location": [
            3019.467041015625,
            4267.0712890625,
            361.4947509765625
        ],
        "rotation": [
            -0.011627192609012127,
            -0.5260952711105347,
            -170.55699157714844
        ],
        "velocity": [
            -5.1025309562683105,
            -0.8523207902908325,
            -0.04925752431154251
        ],
        "speed": 5.173226545323372,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 88.29579162597656,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.8612518310546875,
                "transform": {
                    "location": {
                        "x": 3034.989013671875,
                        "y": 4269.31201171875,
                        "z": 361.6510314941406
                    },
                    "rotation": {
                        "roll": -0.000244141963776201,
                        "pitch": -0.2715478241443634,
                        "yaw": -170.20924377441406
                    }
                },
                "velocity": {
                    "x": -5.777346611022949,
                    "y": -0.9840472340583801,
                    "z": -0.09048193693161011
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.26113224029541,
                "transform": {
                    "location": {
                        "x": 3035.09423828125,
                        "y": 4272.6259765625,
                        "z": 361.6481018066406
                    },
                    "rotation": {
                        "roll": -0.0058898888528347015,
                        "pitch": -0.5265187621116638,
                        "yaw": -170.22032165527344
                    }
                },
                "velocity": {
                    "x": -5.183751583099365,
                    "y": -0.8975910544395447,
                    "z": -0.050620827823877335
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.119756698608398,
                "transform": {
                    "location": {
                        "x": 2974.340576171875,
                        "y": 4269.51318359375,
                        "z": 361.09185791015625
                    },
                    "rotation": {
                        "roll": 0.005799779202789068,
                        "pitch": 0.5513601899147034,
                        "yaw": 9.335697174072266
                    }
                },
                "velocity": {
                    "x": 8.012105941772461,
                    "y": 1.3159021139144897,
                    "z": 0.07076280564069748
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.912634372711182,
                "transform": {
                    "location": {
                        "x": 2976.254638671875,
                        "y": 4266.53515625,
                        "z": 361.1089782714844
                    },
                    "rotation": {
                        "roll": 0.006888670846819878,
                        "pitch": 0.3701825737953186,
                        "yaw": 9.323814392089844
                    }
                },
                "velocity": {
                    "x": 7.808583736419678,
                    "y": 1.2770148515701294,
                    "z": 0.07095449417829514
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.83931303024292,
                "transform": {
                    "location": {
                        "x": 3017.335205078125,
                        "y": 4276.48095703125,
                        "z": 361.4863586425781
                    },
                    "rotation": {
                        "roll": 0.0010923754889518023,
                        "pitch": 0.5416203141212463,
                        "yaw": 9.198244094848633
                    }
                },
                "velocity": {
                    "x": 7.738168716430664,
                    "y": 1.252962589263916,
                    "z": 0.07521448284387589
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.464398384094238,
                "transform": {
                    "location": {
                        "x": 3018.750244140625,
                        "y": 4273.41845703125,
                        "z": 361.4969787597656
                    },
                    "rotation": {
                        "roll": -0.00030517412233166397,
                        "pitch": 0.537590503692627,
                        "yaw": 9.186933517456055
                    }
                },
                "velocity": {
                    "x": 7.368321418762207,
                    "y": 1.1916134357452393,
                    "z": 0.07169967144727707
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.295574188232422,
                "transform": {
                    "location": {
                        "x": 2991.3876953125,
                        "y": 4265.49560546875,
                        "z": 361.23382568359375
                    },
                    "rotation": {
                        "roll": 0.0002575254475232214,
                        "pitch": -0.487368106842041,
                        "yaw": -170.8058624267578
                    }
                },
                "velocity": {
                    "x": -8.188651084899902,
                    "y": -1.3254057168960571,
                    "z": -0.07637384533882141
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.902502536773682,
                "transform": {
                    "location": {
                        "x": 2973.55078125,
                        "y": 4262.6083984375,
                        "z": 361.0769958496094
                    },
                    "rotation": {
                        "roll": 0.0017062138067558408,
                        "pitch": -0.25771668553352356,
                        "yaw": -170.8424530029297
                    }
                },
                "velocity": {
                    "x": -6.814028263092041,
                    "y": -1.0999661684036255,
                    "z": -0.06026067957282066
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20662467181682587,
        "expert_target_speed": 6.241071657559036,
        "target_point": [
            28.931542908992984,
            0.09343604957554241
        ],
        "target_point_next": [
            79.93110905951957,
            -0.13043398756219915
        ]
    },
    "155": {
        "acceleration": [
            -0.03928184509277344,
            -0.013675689697265625,
            -0.009762048721313477
        ],
        "angular_velocity": [
            0.11890274286270142,
            -0.10185100138187408,
            -3.2162351608276367
        ],
        "forward_vector": [
            -0.9863384366035461,
            -0.1644907295703888,
            -0.008904935792088509
        ],
        "right_vector": [
            0.16449569165706635,
            -0.9863777756690979,
            0.00017735936853569
        ],
        "location": [
            3018.174560546875,
            4266.8544921875,
            361.4822692871094
        ],
        "rotation": [
            -0.010162346065044403,
            -0.5102219581604004,
            -170.53196716308594
        ],
        "velocity": [
            -5.200836181640625,
            -0.87270188331604,
            -0.04923481494188309
        ],
        "speed": 5.273547720975473,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 86.98523712158203,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.485744953155518,
                "transform": {
                    "location": {
                        "x": 3033.318603515625,
                        "y": 4269.0302734375,
                        "z": 361.63201904296875
                    },
                    "rotation": {
                        "roll": 0.007112422026693821,
                        "pitch": -0.17688140273094177,
                        "yaw": -170.16001892089844
                    }
                },
                "velocity": {
                    "x": -7.3813018798828125,
                    "y": -1.2444398403167725,
                    "z": -0.06428302824497223
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.861706733703613,
                "transform": {
                    "location": {
                        "x": 3033.736572265625,
                        "y": 4272.3935546875,
                        "z": 361.63482666015625
                    },
                    "rotation": {
                        "roll": -0.003753658616915345,
                        "pitch": -0.5283834338188171,
                        "yaw": -170.28379821777344
                    }
                },
                "velocity": {
                    "x": -5.779611110687256,
                    "y": -0.9759675860404968,
                    "z": -0.05648866668343544
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.075093269348145,
                "transform": {
                    "location": {
                        "x": 2976.352783203125,
                        "y": 4269.84228515625,
                        "z": 361.10986328125
                    },
                    "rotation": {
                        "roll": 0.00640497449785471,
                        "pitch": 0.5179263949394226,
                        "yaw": 9.286163330078125
                    }
                },
                "velocity": {
                    "x": 7.969388484954834,
                    "y": 1.3003333806991577,
                    "z": 0.0714716911315918
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.030259132385254,
                "transform": {
                    "location": {
                        "x": 2978.213623046875,
                        "y": 4266.85498046875,
                        "z": 361.12548828125
                    },
                    "rotation": {
                        "roll": 0.005358569789677858,
                        "pitch": 0.5191695094108582,
                        "yaw": 9.234983444213867
                    }
                },
                "velocity": {
                    "x": 7.925790309906006,
                    "y": 1.2890434265136719,
                    "z": 0.07259822636842728
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.424046516418457,
                "transform": {
                    "location": {
                        "x": 3019.052001953125,
                        "y": 4276.7587890625,
                        "z": 361.50335693359375
                    },
                    "rotation": {
                        "roll": 0.00017439680232200772,
                        "pitch": 0.508876383304596,
                        "yaw": 9.19920539855957
                    }
                },
                "velocity": {
                    "x": 6.34114933013916,
                    "y": 1.0268932580947876,
                    "z": 0.06076020002365112
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.2928547859191895,
                "transform": {
                    "location": {
                        "x": 3020.568115234375,
                        "y": 4273.712890625,
                        "z": 361.5145568847656
                    },
                    "rotation": {
                        "roll": 0.00013666997256223112,
                        "pitch": 0.5437581539154053,
                        "yaw": 9.183191299438477
                    }
                },
                "velocity": {
                    "x": 7.199067115783691,
                    "y": 1.163718342781067,
                    "z": 0.07013839483261108
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.822318077087402,
                "transform": {
                    "location": {
                        "x": 2989.50390625,
                        "y": 4265.19091796875,
                        "z": 361.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0006713865441270173,
                        "pitch": -0.9224852919578552,
                        "yaw": -170.8096466064453
                    }
                },
                "velocity": {
                    "x": -6.734286785125732,
                    "y": -1.0905952453613281,
                    "z": -0.06330174207687378
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.763613700866699,
                "transform": {
                    "location": {
                        "x": 2972.081787109375,
                        "y": 4262.373046875,
                        "z": 361.0670471191406
                    },
                    "rotation": {
                        "roll": -0.009338376112282276,
                        "pitch": -0.6445307731628418,
                        "yaw": -170.52804565429688
                    }
                },
                "velocity": {
                    "x": -5.688792705535889,
                    "y": -0.9243757128715515,
                    "z": -0.04911726340651512
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1995493322610855,
        "expert_target_speed": 6.332454264559545,
        "target_point": [
            27.621044725218653,
            0.07957846821812531
        ],
        "target_point_next": [
            78.62050834569473,
            -0.16654296360178833
        ]
    },
    "160": {
        "acceleration": [
            -2.3118972778320312,
            -0.3682255744934082,
            -0.04736959934234619
        ],
        "angular_velocity": [
            -0.04857400804758072,
            0.09759679436683655,
            2.8823413848876953
        ],
        "forward_vector": [
            -0.9860060811042786,
            -0.16665467619895935,
            -0.0042760237120091915
        ],
        "right_vector": [
            0.16665542125701904,
            -0.9860152006149292,
            0.0001842890924308449
        ],
        "location": [
            3016.697998046875,
            4266.60595703125,
            361.4671325683594
        ],
        "rotation": [
            -0.010559082962572575,
            -0.24499887228012085,
            -170.4065399169922
        ],
        "velocity": [
            -6.316354751586914,
            -1.064698338508606,
            -0.060977447777986526
        ],
        "speed": 6.40546016301074,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 85.48786926269531,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2936.6630859375,
                        "y": 4263.326171875,
                        "z": 361.0862121582031
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2940.193359375,
                        "y": 4260.60498046875,
                        "z": 360.9016418457031
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.7678959369659424,
                "transform": {
                    "location": {
                        "x": 3031.925048828125,
                        "y": 4268.80419921875,
                        "z": 361.62933349609375
                    },
                    "rotation": {
                        "roll": -0.0407409705221653,
                        "pitch": -1.2693427801132202,
                        "yaw": -169.3431854248047
                    }
                },
                "velocity": {
                    "x": -2.7341482639312744,
                    "y": -0.43030306696891785,
                    "z": -0.02281476929783821
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.144942760467529,
                "transform": {
                    "location": {
                        "x": 3032.120849609375,
                        "y": 4272.12109375,
                        "z": 361.6189270019531
                    },
                    "rotation": {
                        "roll": -0.0028381270822137594,
                        "pitch": -0.5124485492706299,
                        "yaw": -170.382568359375
                    }
                },
                "velocity": {
                    "x": -7.046388626098633,
                    "y": -1.180641531944275,
                    "z": -0.06859292834997177
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.954360008239746,
                "transform": {
                    "location": {
                        "x": 2978.31982421875,
                        "y": 4270.16357421875,
                        "z": 361.1277770996094
                    },
                    "rotation": {
                        "roll": 0.0023332524579018354,
                        "pitch": 0.5012266039848328,
                        "yaw": 9.259058952331543
                    }
                },
                "velocity": {
                    "x": 7.8504228591918945,
                    "y": 1.2796833515167236,
                    "z": 0.07156141102313995
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.152826309204102,
                "transform": {
                    "location": {
                        "x": 2980.218994140625,
                        "y": 4267.1806640625,
                        "z": 361.1434020996094
                    },
                    "rotation": {
                        "roll": 0.0015964863123372197,
                        "pitch": 0.5844250917434692,
                        "yaw": 9.238740921020508
                    }
                },
                "velocity": {
                    "x": 8.046991348266602,
                    "y": 1.3073923587799072,
                    "z": 0.0723317340016365
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.526713848114014,
                "transform": {
                    "location": {
                        "x": 3020.62646484375,
                        "y": 4277.013671875,
                        "z": 361.5182800292969
                    },
                    "rotation": {
                        "roll": 0.0003223808016628027,
                        "pitch": 0.5445436239242554,
                        "yaw": 9.19978141784668
                    }
                },
                "velocity": {
                    "x": 6.442477226257324,
                    "y": 1.043404459953308,
                    "z": 0.06153856962919235
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.0136942863464355,
                "transform": {
                    "location": {
                        "x": 3022.334228515625,
                        "y": 4273.99853515625,
                        "z": 361.5315856933594
                    },
                    "rotation": {
                        "roll": 0.0010734617244452238,
                        "pitch": 0.5430341362953186,
                        "yaw": 9.182329177856445
                    }
                },
                "velocity": {
                    "x": 6.923490047454834,
                    "y": 1.1192127466201782,
                    "z": 0.06748716533184052
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.588473796844482,
                "transform": {
                    "location": {
                        "x": 2988.00048828125,
                        "y": 4264.947265625,
                        "z": 361.2044372558594
                    },
                    "rotation": {
                        "roll": -0.0011901918333023787,
                        "pitch": -1.0805290937423706,
                        "yaw": -170.8078155517578
                    }
                },
                "velocity": {
                    "x": -5.51632022857666,
                    "y": -0.8936277627944946,
                    "z": -0.051753271371126175
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.732725620269775,
                "transform": {
                    "location": {
                        "x": 2970.54345703125,
                        "y": 4262.12109375,
                        "z": 361.0515441894531
                    },
                    "rotation": {
                        "roll": 0.001837839954532683,
                        "pitch": -0.3730171024799347,
                        "yaw": -170.76856994628906
                    }
                },
                "velocity": {
                    "x": -6.6457438468933105,
                    "y": -1.0771979093551636,
                    "z": -0.057698801159858704
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.18394771218299866,
        "expert_target_speed": 7.331244266710424,
        "target_point": [
            26.123819952803057,
            0.02012978066058224
        ],
        "target_point_next": [
            77.12262256931857,
            -0.33763692706395965
        ]
    },
    "165": {
        "acceleration": [
            -1.339864730834961,
            -0.15759706497192383,
            -0.013281553983688354
        ],
        "angular_velocity": [
            0.1960199922323227,
            -0.3205343186855316,
            -3.2378270626068115
        ],
        "forward_vector": [
            -0.9861894249916077,
            -0.16553182899951935,
            -0.005432817153632641
        ],
        "right_vector": [
            0.16553440690040588,
            -0.9862040281295776,
            -2.3775208319420926e-05
        ],
        "location": [
            3015.064697265625,
            4266.33154296875,
            361.45172119140625
        ],
        "rotation": [
            0.0013622392434626818,
            -0.3112790286540985,
            -170.4717254638672
        ],
        "velocity": [
            -6.711965560913086,
            -1.1232479810714722,
            -0.06425256282091141
        ],
        "speed": 6.805304380985795,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 83.83165740966797,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2938.713623046875,
                        "y": 4263.658203125,
                        "z": 360.9270935058594
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.24365234375,
                        "y": 4260.9365234375,
                        "z": 360.8385925292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4303428828716278,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.26097172498703003,
                "transform": {
                    "location": {
                        "x": 3031.77294921875,
                        "y": 4268.7822265625,
                        "z": 361.6307678222656
                    },
                    "rotation": {
                        "roll": -0.0810241624712944,
                        "pitch": -1.6098003387451172,
                        "yaw": -169.2303924560547
                    }
                },
                "velocity": {
                    "x": -0.2569994628429413,
                    "y": -0.045279763638973236,
                    "z": -0.002692632609978318
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.6983256340026855,
                "transform": {
                    "location": {
                        "x": 3030.248046875,
                        "y": 4271.806640625,
                        "z": 361.60089111328125
                    },
                    "rotation": {
                        "roll": -0.0020446793641895056,
                        "pitch": -0.5223659873008728,
                        "yaw": -170.49844360351562
                    }
                },
                "velocity": {
                    "x": -7.592920780181885,
                    "y": -1.2674312591552734,
                    "z": -0.07344817370176315
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.096451759338379,
                "transform": {
                    "location": {
                        "x": 2980.30419921875,
                        "y": 4270.486328125,
                        "z": 361.1459045410156
                    },
                    "rotation": {
                        "roll": 0.0023618247359991074,
                        "pitch": 0.5450422167778015,
                        "yaw": 9.239104270935059
                    }
                },
                "velocity": {
                    "x": 7.991361618041992,
                    "y": 1.2981998920440674,
                    "z": 0.07306058704853058
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0496826171875,
                "transform": {
                    "location": {
                        "x": 2982.217529296875,
                        "y": 4267.50537109375,
                        "z": 361.1622619628906
                    },
                    "rotation": {
                        "roll": 0.0014683459885418415,
                        "pitch": 0.5132818818092346,
                        "yaw": 9.199481964111328
                    }
                },
                "velocity": {
                    "x": 7.945723533630371,
                    "y": 1.287506103515625,
                    "z": 0.07205735892057419
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.274501323699951,
                "transform": {
                    "location": {
                        "x": 3022.34521484375,
                        "y": 4277.2919921875,
                        "z": 361.53466796875
                    },
                    "rotation": {
                        "roll": -0.00018310350424144417,
                        "pitch": 0.5709559917449951,
                        "yaw": 9.19860553741455
                    }
                },
                "velocity": {
                    "x": 7.180620193481445,
                    "y": 1.162901759147644,
                    "z": 0.06872165203094482
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.782873630523682,
                "transform": {
                    "location": {
                        "x": 3024.03466796875,
                        "y": 4274.27294921875,
                        "z": 361.54815673828125
                    },
                    "rotation": {
                        "roll": 0.0007761017186567187,
                        "pitch": 0.5430478453636169,
                        "yaw": 9.184100151062012
                    }
                },
                "velocity": {
                    "x": 6.695619583129883,
                    "y": 1.0825567245483398,
                    "z": 0.0642181783914566
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.0872297286987305,
                "transform": {
                    "location": {
                        "x": 2986.67236328125,
                        "y": 4264.73291015625,
                        "z": 361.1913146972656
                    },
                    "rotation": {
                        "roll": 0.001014668494462967,
                        "pitch": -0.8765522837638855,
                        "yaw": -170.80372619628906
                    }
                },
                "velocity": {
                    "x": -5.021775245666504,
                    "y": -0.8120483160018921,
                    "z": -0.04752293601632118
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.932531833648682,
                "transform": {
                    "location": {
                        "x": 2968.72314453125,
                        "y": 4261.8271484375,
                        "z": 361.03424072265625
                    },
                    "rotation": {
                        "roll": -0.0013122562086209655,
                        "pitch": -0.17541290819644928,
                        "yaw": -170.72076416015625
                    }
                },
                "velocity": {
                    "x": -7.83019495010376,
                    "y": -1.2683111429214478,
                    "z": -0.06705193221569061
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17586162686347961,
        "expert_target_speed": 7.66830722188905,
        "target_point": [
            24.467587408415106,
            0.04957841209930125
        ],
        "target_point_next": [
            75.46676391768644,
            -0.2501893507624029
        ]
    },
    "170": {
        "acceleration": [
            -0.6560516357421875,
            -0.05701303482055664,
            0.001605004072189331
        ],
        "angular_velocity": [
            0.0007517343037761748,
            -0.33051881194114685,
            2.5265214443206787
        ],
        "forward_vector": [
            -0.986378014087677,
            -0.16435448825359344,
            -0.0067861746065318584
        ],
        "right_vector": [
            0.16435950994491577,
            -0.9864005446434021,
            -0.0001839080359786749
        ],
        "location": [
            3013.35107421875,
            4266.046875,
            361.4354248046875
        ],
        "rotation": [
            0.010537397116422653,
            -0.38882216811180115,
            -170.5400390625
        ],
        "velocity": [
            -6.962219715118408,
            -1.1502891778945923,
            -0.06522999703884125
        ],
        "speed": 7.056604605216652,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 82.09455871582031,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2940.766845703125,
                        "y": 4263.990234375,
                        "z": 360.83599853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4303428828716278,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.9701738357543945,
                "transform": {
                    "location": {
                        "x": 2944.258056640625,
                        "y": 4261.2626953125,
                        "z": 360.8454895019531
                    },
                    "rotation": {
                        "roll": -0.013610838912427425,
                        "pitch": 0.21157875657081604,
                        "yaw": 9.213041305541992
                    }
                },
                "velocity": {
                    "x": 6.8780131340026855,
                    "y": 1.1296446323394775,
                    "z": 0.012641648761928082
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6070631146430969,
                "transform": {
                    "location": {
                        "x": 3031.643798828125,
                        "y": 4268.76025390625,
                        "z": 361.62005615234375
                    },
                    "rotation": {
                        "roll": -0.013946527615189552,
                        "pitch": -0.44131216406822205,
                        "yaw": -169.29591369628906
                    }
                },
                "velocity": {
                    "x": -0.5981485247612,
                    "y": -0.10346076637506485,
                    "z": -0.006315031088888645
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.399118423461914,
                "transform": {
                    "location": {
                        "x": 3028.072509765625,
                        "y": 4271.44482421875,
                        "z": 361.57958984375
                    },
                    "rotation": {
                        "roll": 0.0003825053572654724,
                        "pitch": -0.5037195682525635,
                        "yaw": -170.62376403808594
                    }
                },
                "velocity": {
                    "x": -9.273672103881836,
                    "y": -1.527855634689331,
                    "z": -0.08995995670557022
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.013996124267578,
                "transform": {
                    "location": {
                        "x": 2982.29345703125,
                        "y": 4270.80908203125,
                        "z": 361.1642150878906
                    },
                    "rotation": {
                        "roll": 0.0018134997226297855,
                        "pitch": 0.5195997953414917,
                        "yaw": 9.224392890930176
                    }
                },
                "velocity": {
                    "x": 7.910043239593506,
                    "y": 1.2845872640609741,
                    "z": 0.07204896956682205
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.036299705505371,
                "transform": {
                    "location": {
                        "x": 2984.198974609375,
                        "y": 4267.826171875,
                        "z": 361.18072509765625
                    },
                    "rotation": {
                        "roll": 0.0011778376065194607,
                        "pitch": 0.511307954788208,
                        "yaw": 9.219924926757812
                    }
                },
                "velocity": {
                    "x": 7.9324564933776855,
                    "y": 1.285683512687683,
                    "z": 0.07249263674020767
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.6668620109558105,
                "transform": {
                    "location": {
                        "x": 3024.076904296875,
                        "y": 4277.57275390625,
                        "z": 361.55169677734375
                    },
                    "rotation": {
                        "roll": -6.104083877289668e-05,
                        "pitch": 0.5387653112411499,
                        "yaw": 9.19594669342041
                    }
                },
                "velocity": {
                    "x": 6.580959320068359,
                    "y": 1.0649070739746094,
                    "z": 0.0632135197520256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.524736404418945,
                "transform": {
                    "location": {
                        "x": 3025.674560546875,
                        "y": 4274.53857421875,
                        "z": 361.56402587890625
                    },
                    "rotation": {
                        "roll": 0.0008372861193493009,
                        "pitch": 0.5438196063041687,
                        "yaw": 9.189615249633789
                    }
                },
                "velocity": {
                    "x": 6.440643787384033,
                    "y": 1.0422793626785278,
                    "z": 0.06283525377511978
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.15126371383667,
                "transform": {
                    "location": {
                        "x": 2985.413330078125,
                        "y": 4264.52880859375,
                        "z": 361.1787109375
                    },
                    "rotation": {
                        "roll": -0.000640869839116931,
                        "pitch": -0.6614081859588623,
                        "yaw": -170.80294799804688
                    }
                },
                "velocity": {
                    "x": -5.084850788116455,
                    "y": -0.8232628703117371,
                    "z": -0.04528338834643364
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.842277526855469,
                "transform": {
                    "location": {
                        "x": 2966.627197265625,
                        "y": 4261.4873046875,
                        "z": 361.0167541503906
                    },
                    "rotation": {
                        "roll": -9.155130828730762e-05,
                        "pitch": -0.23428229987621307,
                        "yaw": -170.7569122314453
                    }
                },
                "velocity": {
                    "x": -8.728120803833008,
                    "y": -1.414294719696045,
                    "z": -0.07449959963560104
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15894798934459686,
        "expert_target_speed": 7.875419067292713,
        "target_point": [
            22.730404397798633,
            0.07959803149931588
        ],
        "target_point_next": [
            73.72990202091563,
            -0.1593737767704848
        ]
    },
    "175": {
        "acceleration": [
            0.6507015228271484,
            0.16295909881591797,
            -1.7136335372924805e-05
        ],
        "angular_velocity": [
            0.20099514722824097,
            -0.4265490174293518,
            -3.46336030960083
        ],
        "forward_vector": [
            -0.9867581725120544,
            -0.16196268796920776,
            -0.008735544979572296
        ],
        "right_vector": [
            0.16197139024734497,
            -0.9867953658103943,
            -0.0002943124854937196
        ],
        "location": [
            3011.61328125,
            4265.76123046875,
            361.41925048828125
        ],
        "rotation": [
            0.01686350628733635,
            -0.5005162358283997,
            -170.67880249023438
        ],
        "velocity": [
            -6.8996262550354,
            -1.1265089511871338,
            -0.06573133915662766
        ],
        "speed": 6.9909845427005886,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 80.33349609375,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.98912239074707,
                "transform": {
                    "location": {
                        "x": 2942.7822265625,
                        "y": 4264.31591796875,
                        "z": 360.841552734375
                    },
                    "rotation": {
                        "roll": -0.007904051803052425,
                        "pitch": 0.25413766503334045,
                        "yaw": 9.208362579345703
                    }
                },
                "velocity": {
                    "x": 6.897660255432129,
                    "y": 1.1269824504852295,
                    "z": 0.005009336397051811
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.6355156898498535,
                "transform": {
                    "location": {
                        "x": 2945.921875,
                        "y": 4261.5478515625,
                        "z": 360.8516845703125
                    },
                    "rotation": {
                        "roll": -0.0700988695025444,
                        "pitch": 0.11795736104249954,
                        "yaw": 9.727924346923828
                    }
                },
                "velocity": {
                    "x": 6.534334182739258,
                    "y": 1.1538585424423218,
                    "z": 0.033938731998205185
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6794135570526123,
                "transform": {
                    "location": {
                        "x": 3031.364990234375,
                        "y": 4268.71142578125,
                        "z": 361.6153869628906
                    },
                    "rotation": {
                        "roll": 0.0027012734208256006,
                        "pitch": -0.2135663479566574,
                        "yaw": -169.4285125732422
                    }
                },
                "velocity": {
                    "x": -1.6554114818572998,
                    "y": -0.2824707627296448,
                    "z": -0.015902576968073845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.17467212677002,
                "transform": {
                    "location": {
                        "x": 3025.651123046875,
                        "y": 4271.046875,
                        "z": 361.55621337890625
                    },
                    "rotation": {
                        "roll": 0.0008840123191475868,
                        "pitch": -0.5205355286598206,
                        "yaw": -170.7317352294922
                    }
                },
                "velocity": {
                    "x": -10.040467262268066,
                    "y": -1.644280195236206,
                    "z": -0.09646481275558472
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.030458450317383,
                "transform": {
                    "location": {
                        "x": 2984.26953125,
                        "y": 4271.1298828125,
                        "z": 361.18255615234375
                    },
                    "rotation": {
                        "roll": -0.00012207152030896395,
                        "pitch": 0.5305280685424805,
                        "yaw": 9.219439506530762
                    }
                },
                "velocity": {
                    "x": 7.926424503326416,
                    "y": 1.2863945960998535,
                    "z": 0.07239723205566406
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08603286743164,
                "transform": {
                    "location": {
                        "x": 2986.189697265625,
                        "y": 4268.1484375,
                        "z": 361.198974609375
                    },
                    "rotation": {
                        "roll": 0.0006136978045105934,
                        "pitch": 0.5473781824111938,
                        "yaw": 9.187544822692871
                    }
                },
                "velocity": {
                    "x": 7.981821060180664,
                    "y": 1.291972041130066,
                    "z": 0.07255397737026215
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.232603549957275,
                "transform": {
                    "location": {
                        "x": 3025.649658203125,
                        "y": 4277.8271484375,
                        "z": 361.5670166015625
                    },
                    "rotation": {
                        "roll": 0.000630622380413115,
                        "pitch": 0.531825840473175,
                        "yaw": 9.190279006958008
                    }
                },
                "velocity": {
                    "x": 6.152318000793457,
                    "y": 0.995320200920105,
                    "z": 0.06057184189558029
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.345644474029541,
                "transform": {
                    "location": {
                        "x": 3027.262451171875,
                        "y": 4274.79541015625,
                        "z": 361.5794372558594
                    },
                    "rotation": {
                        "roll": 0.0010271159699186683,
                        "pitch": 0.5446187853813171,
                        "yaw": 9.191411972045898
                    }
                },
                "velocity": {
                    "x": 6.26387357711792,
                    "y": 1.0135797262191772,
                    "z": 0.06122097745537758
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.074590682983398,
                "transform": {
                    "location": {
                        "x": 2984.092041015625,
                        "y": 4264.31494140625,
                        "z": 361.1656494140625
                    },
                    "rotation": {
                        "roll": -0.0011596673866733909,
                        "pitch": -0.4078715443611145,
                        "yaw": -170.80242919921875
                    }
                },
                "velocity": {
                    "x": -5.996251583099365,
                    "y": -0.9707860350608826,
                    "z": -0.05651077255606651
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.543420791625977,
                "transform": {
                    "location": {
                        "x": 2964.46923828125,
                        "y": 4261.13720703125,
                        "z": 361.000732421875
                    },
                    "rotation": {
                        "roll": 0.0009029624052345753,
                        "pitch": -0.5169633030891418,
                        "yaw": -170.8275909423828
                    }
                },
                "velocity": {
                    "x": -8.433609008789062,
                    "y": -1.3635574579238892,
                    "z": -0.07065426558256149
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16921588778495789,
        "expert_target_speed": 7.821623966502391,
        "target_point": [
            20.969032454610357,
            0.1342536272306205
        ],
        "target_point_next": [
            71.96895932170061,
            0.01882015327709574
        ]
    },
    "180": {
        "acceleration": [
            0.42647361755371094,
            -0.07955789566040039,
            -0.004598051309585571
        ],
        "angular_velocity": [
            -0.1478155553340912,
            -0.1207461729645729,
            3.4636037349700928
        ],
        "forward_vector": [
            -0.9867826700210571,
            -0.16174298524856567,
            -0.009961082600057125
        ],
        "right_vector": [
            0.16175046563148499,
            -0.9868316650390625,
            5.432578836916946e-05
        ],
        "location": [
            3009.90966796875,
            4265.48291015625,
            361.40338134765625
        ],
        "rotation": [
            -0.00311279296875,
            -0.5707374215126038,
            -170.6914520263672
        ],
        "velocity": [
            -6.753305912017822,
            -1.1132469177246094,
            -0.06457799673080444
        ],
        "speed": 6.844447343731868,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 78.60736846923828,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.427029609680176,
                "transform": {
                    "location": {
                        "x": 3038.869384765625,
                        "y": 4273.27978515625,
                        "z": 361.7736511230469
                    },
                    "rotation": {
                        "roll": -3.335208553778557e-09,
                        "pitch": -0.552705705165863,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -6.897657871246338,
                    "y": -1.116137146949768,
                    "z": -2.517404794692993
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.678760051727295,
                "transform": {
                    "location": {
                        "x": 2944.456787109375,
                        "y": 4264.60107421875,
                        "z": 360.8470764160156
                    },
                    "rotation": {
                        "roll": -0.03124999813735485,
                        "pitch": 0.3024612367153168,
                        "yaw": 9.633340835571289
                    }
                },
                "velocity": {
                    "x": 6.580433368682861,
                    "y": 1.1412303447723389,
                    "z": 0.03643444925546646
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.823253631591797,
                "transform": {
                    "location": {
                        "x": 2947.582763671875,
                        "y": 4261.83349609375,
                        "z": 360.86138916015625
                    },
                    "rotation": {
                        "roll": -0.00332641857676208,
                        "pitch": 0.32848426699638367,
                        "yaw": 9.745885848999023
                    }
                },
                "velocity": {
                    "x": 6.7252326011657715,
                    "y": 1.1514458656311035,
                    "z": 0.047001779079437256
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.954761505126953,
                "transform": {
                    "location": {
                        "x": 3030.80419921875,
                        "y": 4268.6142578125,
                        "z": 361.61029052734375
                    },
                    "rotation": {
                        "roll": 0.0014430335722863674,
                        "pitch": -0.2568082809448242,
                        "yaw": -169.63595581054688
                    }
                },
                "velocity": {
                    "x": -2.9127464294433594,
                    "y": -0.495709091424942,
                    "z": -0.028220510110259056
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.833305358886719,
                "transform": {
                    "location": {
                        "x": 3023.05615234375,
                        "y": 4270.62158203125,
                        "z": 361.5311279296875
                    },
                    "rotation": {
                        "roll": 0.00037129377597011626,
                        "pitch": -0.5260679721832275,
                        "yaw": -170.77699279785156
                    }
                },
                "velocity": {
                    "x": -10.691920280456543,
                    "y": -1.74143648147583,
                    "z": -0.1036640927195549
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05176830291748,
                "transform": {
                    "location": {
                        "x": 2986.256591796875,
                        "y": 4271.4521484375,
                        "z": 361.2010498046875
                    },
                    "rotation": {
                        "roll": 0.0007608458981849253,
                        "pitch": 0.5380002856254578,
                        "yaw": 9.213322639465332
                    }
                },
                "velocity": {
                    "x": 7.94756555557251,
                    "y": 1.2890994548797607,
                    "z": 0.07351546734571457
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.071914672851562,
                "transform": {
                    "location": {
                        "x": 2988.184326171875,
                        "y": 4268.470703125,
                        "z": 361.2176208496094
                    },
                    "rotation": {
                        "roll": 0.0006847832119092345,
                        "pitch": 0.537590503692627,
                        "yaw": 9.210817337036133
                    }
                },
                "velocity": {
                    "x": 7.967767238616943,
                    "y": 1.2903988361358643,
                    "z": 0.07323537766933441
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.359236240386963,
                "transform": {
                    "location": {
                        "x": 3027.206298828125,
                        "y": 4278.0791015625,
                        "z": 361.58197021484375
                    },
                    "rotation": {
                        "roll": 0.00010137030767509714,
                        "pitch": 0.5518587827682495,
                        "yaw": 9.189096450805664
                    }
                },
                "velocity": {
                    "x": 6.277339458465576,
                    "y": 1.0155283212661743,
                    "z": 0.0599910244345665
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.072748184204102,
                "transform": {
                    "location": {
                        "x": 3028.792724609375,
                        "y": 4275.04248046875,
                        "z": 361.59423828125
                    },
                    "rotation": {
                        "roll": 0.0001771560200722888,
                        "pitch": 0.5443933606147766,
                        "yaw": 9.191141128540039
                    }
                },
                "velocity": {
                    "x": 5.994494438171387,
                    "y": 0.9699629545211792,
                    "z": 0.05900268256664276
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.825677871704102,
                "transform": {
                    "location": {
                        "x": 2982.31494140625,
                        "y": 4264.02734375,
                        "z": 361.1473693847656
                    },
                    "rotation": {
                        "roll": -0.0014648428186774254,
                        "pitch": 0.0614238865673542,
                        "yaw": -170.80137634277344
                    }
                },
                "velocity": {
                    "x": -7.724730014801025,
                    "y": -1.250912070274353,
                    "z": -0.07071167975664139
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.024297714233398,
                "transform": {
                    "location": {
                        "x": 2962.427978515625,
                        "y": 4260.8076171875,
                        "z": 360.9847106933594
                    },
                    "rotation": {
                        "roll": 0.0015238472260534763,
                        "pitch": -0.6281383037567139,
                        "yaw": -170.81661987304688
                    }
                },
                "velocity": {
                    "x": -7.921294212341309,
                    "y": -1.2798246145248413,
                    "z": -0.0670393630862236
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1667606383562088,
        "expert_target_speed": 7.700630399240973,
        "target_point": [
            19.242804288297354,
            0.13978872035421297
        ],
        "target_point_next": [
            70.24275539736654,
            0.03561478879312929
        ]
    },
    "185": {
        "acceleration": [
            0.12056350708007812,
            -0.20351648330688477,
            -0.012824833393096924
        ],
        "angular_velocity": [
            -0.14752086997032166,
            0.02691241353750229,
            -1.5044058561325073
        ],
        "forward_vector": [
            -0.9860972166061401,
            -0.16587196290493011,
            -0.009937122464179993
        ],
        "right_vector": [
            0.16587136685848236,
            -0.9861469864845276,
            0.0008878539665602148
        ],
        "location": [
            3008.230224609375,
            4265.19970703125,
            361.3875427246094
        ],
        "rotation": [
            -0.050872802734375,
            -0.5693645477294922,
            -170.45162963867188
        ],
        "velocity": [
            -6.696761131286621,
            -1.156944751739502,
            -0.06449336558580399
        ],
        "speed": 6.7959643030322665,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 76.9041976928711,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.933680534362793,
                "transform": {
                    "location": {
                        "x": 3037.19482421875,
                        "y": 4273.0,
                        "z": 361.6144714355469
                    },
                    "rotation": {
                        "roll": -0.009094233624637127,
                        "pitch": -0.5510186553001404,
                        "yaw": -170.49752807617188
                    }
                },
                "velocity": {
                    "x": -6.830496788024902,
                    "y": -1.1741653680801392,
                    "z": 0.20389319956302643
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.858005523681641,
                "transform": {
                    "location": {
                        "x": 2946.126220703125,
                        "y": 4264.88916015625,
                        "z": 360.8583068847656
                    },
                    "rotation": {
                        "roll": 0.005640995688736439,
                        "pitch": 0.4037393033504486,
                        "yaw": 9.756635665893555
                    }
                },
                "velocity": {
                    "x": 6.759624004364014,
                    "y": 1.1564218997955322,
                    "z": 0.04911717399954796
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.487807750701904,
                "transform": {
                    "location": {
                        "x": 2949.096435546875,
                        "y": 4262.09228515625,
                        "z": 360.8733825683594
                    },
                    "rotation": {
                        "roll": 0.005305791739374399,
                        "pitch": 0.08012494444847107,
                        "yaw": 9.704684257507324
                    }
                },
                "velocity": {
                    "x": 5.409369468688965,
                    "y": 0.9236292839050293,
                    "z": 0.04077267646789551
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.096558570861816,
                "transform": {
                    "location": {
                        "x": 3029.780517578125,
                        "y": 4268.43896484375,
                        "z": 361.59906005859375
                    },
                    "rotation": {
                        "roll": 0.01774136908352375,
                        "pitch": -0.0895642638206482,
                        "yaw": -169.9967041015625
                    }
                },
                "velocity": {
                    "x": -5.026961326599121,
                    "y": -0.8381037712097168,
                    "z": -0.04637669771909714
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.521337509155273,
                "transform": {
                    "location": {
                        "x": 3020.294677734375,
                        "y": 4270.1728515625,
                        "z": 361.50433349609375
                    },
                    "rotation": {
                        "roll": 0.0009525477653369308,
                        "pitch": -0.5243809223175049,
                        "yaw": -170.79698181152344
                    }
                },
                "velocity": {
                    "x": -11.372017860412598,
                    "y": -1.8457164764404297,
                    "z": -0.10847336798906326
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023764610290527,
                "transform": {
                    "location": {
                        "x": 2988.239013671875,
                        "y": 4271.7734375,
                        "z": 361.2195739746094
                    },
                    "rotation": {
                        "roll": 0.0015632763970643282,
                        "pitch": 0.5300841331481934,
                        "yaw": 9.209538459777832
                    }
                },
                "velocity": {
                    "x": 7.920011520385742,
                    "y": 1.2840746641159058,
                    "z": 0.07332637906074524
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.056441307067871,
                "transform": {
                    "location": {
                        "x": 2990.17333984375,
                        "y": 4268.79345703125,
                        "z": 361.23626708984375
                    },
                    "rotation": {
                        "roll": 0.0005593954701907933,
                        "pitch": 0.5273998379707336,
                        "yaw": 9.186281204223633
                    }
                },
                "velocity": {
                    "x": 7.952454090118408,
                    "y": 1.288101315498352,
                    "z": 0.07423833757638931
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.981395244598389,
                "transform": {
                    "location": {
                        "x": 3028.73583984375,
                        "y": 4278.32666015625,
                        "z": 361.5969543457031
                    },
                    "rotation": {
                        "roll": -0.00015258877829182893,
                        "pitch": 0.5393595099449158,
                        "yaw": 9.18651008605957
                    }
                },
                "velocity": {
                    "x": 5.90442419052124,
                    "y": 0.9547871947288513,
                    "z": 0.05697692558169365
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.916881561279297,
                "transform": {
                    "location": {
                        "x": 3030.270751953125,
                        "y": 4275.28173828125,
                        "z": 361.6086730957031
                    },
                    "rotation": {
                        "roll": -0.0002746573300100863,
                        "pitch": 0.5439289212226868,
                        "yaw": 9.191575050354004
                    }
                },
                "velocity": {
                    "x": 5.840633392333984,
                    "y": 0.9451054930686951,
                    "z": 0.05713338777422905
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.776445388793945,
                "transform": {
                    "location": {
                        "x": 2980.269287109375,
                        "y": 4263.6962890625,
                        "z": 361.12908935546875
                    },
                    "rotation": {
                        "roll": -0.00015258796338457614,
                        "pitch": -0.07149841636419296,
                        "yaw": -170.8048858642578
                    }
                },
                "velocity": {
                    "x": -8.663313865661621,
                    "y": -1.4023864269256592,
                    "z": -0.07934194058179855
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.483737945556641,
                "transform": {
                    "location": {
                        "x": 2960.517333984375,
                        "y": 4260.49853515625,
                        "z": 360.968505859375
                    },
                    "rotation": {
                        "roll": 0.00032973475754261017,
                        "pitch": -0.5996974110603333,
                        "yaw": -170.8465118408203
                    }
                },
                "velocity": {
                    "x": -7.387828826904297,
                    "y": -1.192704200744629,
                    "z": -0.06147436797618866
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14012037217617035,
        "expert_target_speed": 7.660283033402516,
        "target_point": [
            17.54006683758849,
            0.05855002666140052
        ],
        "target_point_next": [
            68.53913515347251,
            -0.2590916696857821
        ]
    },
    "190": {
        "acceleration": [
            0.04749298095703125,
            -0.20401477813720703,
            -0.009124577045440674
        ],
        "angular_velocity": [
            -0.15532509982585907,
            0.0014997600810602307,
            4.7847208976745605
        ],
        "forward_vector": [
            -0.9847623109817505,
            -0.17363664507865906,
            -0.00966605357825756
        ],
        "right_vector": [
            0.17363233864307404,
            -0.9848096370697021,
            0.0012899743160232902
        ],
        "location": [
            3006.557861328125,
            4264.9052734375,
            361.3716735839844
        ],
        "rotation": [
            -0.0739135593175888,
            -0.5538327097892761,
            -170.0001983642578
        ],
        "velocity": [
            -6.682561874389648,
            -1.2082891464233398,
            -0.06442168354988098
        ],
        "speed": 6.790920104552146,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 75.20603942871094,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.7253313064575195,
                "transform": {
                    "location": {
                        "x": 3035.513916015625,
                        "y": 4272.7119140625,
                        "z": 361.6462707519531
                    },
                    "rotation": {
                        "roll": -0.008453369140625,
                        "pitch": -0.5481226444244385,
                        "yaw": -170.17762756347656
                    }
                },
                "velocity": {
                    "x": -6.625795841217041,
                    "y": -1.1526178121566772,
                    "z": 0.0196034237742424
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.621768951416016,
                "transform": {
                    "location": {
                        "x": 2947.626708984375,
                        "y": 4265.14501953125,
                        "z": 360.86956787109375
                    },
                    "rotation": {
                        "roll": 0.0064716637134552,
                        "pitch": 0.2623748779296875,
                        "yaw": 9.672185897827148
                    }
                },
                "velocity": {
                    "x": 5.542037010192871,
                    "y": 0.9424894452095032,
                    "z": 0.042719144374132156
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.386479377746582,
                "transform": {
                    "location": {
                        "x": 2950.416259765625,
                        "y": 4262.31689453125,
                        "z": 360.8830261230469
                    },
                    "rotation": {
                        "roll": 0.005599400028586388,
                        "pitch": 0.2356688380241394,
                        "yaw": 9.687131881713867
                    }
                },
                "velocity": {
                    "x": 5.309678077697754,
                    "y": 0.9054197669029236,
                    "z": 0.04117719456553459
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.978627681732178,
                "transform": {
                    "location": {
                        "x": 3028.443359375,
                        "y": 4268.2138671875,
                        "z": 361.5882263183594
                    },
                    "rotation": {
                        "roll": 0.006812005303800106,
                        "pitch": -0.32702943682670593,
                        "yaw": -170.32656860351562
                    }
                },
                "velocity": {
                    "x": -5.898443698883057,
                    "y": -0.9742562174797058,
                    "z": -0.05632207170128822
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.172332763671875,
                "transform": {
                    "location": {
                        "x": 3017.3681640625,
                        "y": 4269.6982421875,
                        "z": 361.47613525390625
                    },
                    "rotation": {
                        "roll": 0.0016651841579005122,
                        "pitch": -0.52114337682724,
                        "yaw": -170.80540466308594
                    }
                },
                "velocity": {
                    "x": -12.015081405639648,
                    "y": -1.9468169212341309,
                    "z": -0.11573683470487595
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040005683898926,
                "transform": {
                    "location": {
                        "x": 2990.220947265625,
                        "y": 4272.09423828125,
                        "z": 361.2380676269531
                    },
                    "rotation": {
                        "roll": 0.0022548113483935595,
                        "pitch": 0.5357941389083862,
                        "yaw": 9.205855369567871
                    }
                },
                "velocity": {
                    "x": 7.936112880706787,
                    "y": 1.2862803936004639,
                    "z": 0.07263875752687454
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.068150520324707,
                "transform": {
                    "location": {
                        "x": 2992.162841796875,
                        "y": 4269.11572265625,
                        "z": 361.2547607421875
                    },
                    "rotation": {
                        "roll": 0.0005739008774980903,
                        "pitch": 0.5346671938896179,
                        "yaw": 9.214162826538086
                    }
                },
                "velocity": {
                    "x": 7.9640116691589355,
                    "y": 1.289910912513733,
                    "z": 0.07550439983606339
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.667572498321533,
                "transform": {
                    "location": {
                        "x": 3030.158935546875,
                        "y": 4278.556640625,
                        "z": 361.6106872558594
                    },
                    "rotation": {
                        "roll": -0.00015258874918799847,
                        "pitch": 0.5385262370109558,
                        "yaw": 9.186020851135254
                    }
                },
                "velocity": {
                    "x": 5.594631195068359,
                    "y": 0.9047124981880188,
                    "z": 0.05456528440117836
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.665480136871338,
                "transform": {
                    "location": {
                        "x": 3031.698974609375,
                        "y": 4275.51318359375,
                        "z": 361.6224670410156
                    },
                    "rotation": {
                        "roll": 0.0010352171957492828,
                        "pitch": 0.5440586805343628,
                        "yaw": 9.191534042358398
                    }
                },
                "velocity": {
                    "x": 5.592463970184326,
                    "y": 0.9049500226974487,
                    "z": 0.05548064038157463
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.352925300598145,
                "transform": {
                    "location": {
                        "x": 2977.948974609375,
                        "y": 4263.3203125,
                        "z": 361.1081848144531
                    },
                    "rotation": {
                        "roll": 0.0014699699822813272,
                        "pitch": -0.12749913334846497,
                        "yaw": -170.8079071044922
                    }
                },
                "velocity": {
                    "x": -9.232470512390137,
                    "y": -1.4939346313476562,
                    "z": -0.08281823247671127
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.046375274658203,
                "transform": {
                    "location": {
                        "x": 2958.730224609375,
                        "y": 4260.21044921875,
                        "z": 360.95367431640625
                    },
                    "rotation": {
                        "roll": 0.0004814651620108634,
                        "pitch": -0.5663387775421143,
                        "yaw": -170.8115692138672
                    }
                },
                "velocity": {
                    "x": -6.955989837646484,
                    "y": -1.123574137687683,
                    "z": -0.05643656104803085
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0960397943854332,
        "expert_target_speed": 7.656016721936788,
        "target_point": [
            15.841899553117448,
            -0.07920886138851913
        ],
        "target_point_next": [
            66.83688238574734,
            -0.7986469999707531
        ]
    },
    "195": {
        "acceleration": [
            1.2738990783691406,
            0.1348400115966797,
            0.0225888192653656
        ],
        "angular_velocity": [
            0.12727124989032745,
            -0.3348236083984375,
            -1.6464669704437256
        ],
        "forward_vector": [
            -0.9835377931594849,
            -0.18042102456092834,
            -0.01008576899766922
        ],
        "right_vector": [
            0.18041610717773438,
            -0.9835893511772156,
            0.0014034139458090067
        ],
        "location": [
            3004.89794921875,
            4264.60009765625,
            361.35601806640625
        ],
        "rotation": [
            -0.0804138109087944,
            -0.5778818130493164,
            -169.6051788330078
        ],
        "velocity": [
            -6.5363993644714355,
            -1.2280278205871582,
            -0.06260575354099274
        ],
        "speed": 6.6507570230762925,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 73.51828002929688,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.082348346710205,
                "transform": {
                    "location": {
                        "x": 3033.920654296875,
                        "y": 4272.43701171875,
                        "z": 361.6376953125
                    },
                    "rotation": {
                        "roll": -0.005523682571947575,
                        "pitch": -0.5708330273628235,
                        "yaw": -170.09210205078125
                    }
                },
                "velocity": {
                    "x": -5.9949164390563965,
                    "y": -1.025978446006775,
                    "z": -0.0575147345662117
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.7457075119018555,
                "transform": {
                    "location": {
                        "x": 2949.01708984375,
                        "y": 4265.38134765625,
                        "z": 360.8802795410156
                    },
                    "rotation": {
                        "roll": 0.005292409565299749,
                        "pitch": 0.4270438849925995,
                        "yaw": 9.641095161437988
                    }
                },
                "velocity": {
                    "x": 5.664649963378906,
                    "y": 0.9607250094413757,
                    "z": 0.043564777821302414
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.117954730987549,
                "transform": {
                    "location": {
                        "x": 2951.890625,
                        "y": 4262.5654296875,
                        "z": 360.892333984375
                    },
                    "rotation": {
                        "roll": 0.024934615939855576,
                        "pitch": 0.8348129987716675,
                        "yaw": 9.567108154296875
                    }
                },
                "velocity": {
                    "x": 7.020890235900879,
                    "y": 1.170188307762146,
                    "z": 0.055126722902059555
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.6499223709106445,
                "transform": {
                    "location": {
                        "x": 3026.73046875,
                        "y": 4267.93017578125,
                        "z": 361.57025146484375
                    },
                    "rotation": {
                        "roll": 0.002339873695746064,
                        "pitch": -0.16958676278591156,
                        "yaw": -170.4403839111328
                    }
                },
                "velocity": {
                    "x": -7.547944068908691,
                    "y": -1.2427304983139038,
                    "z": -0.07397498190402985
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.843427658081055,
                "transform": {
                    "location": {
                        "x": 3014.27783203125,
                        "y": 4269.19775390625,
                        "z": 361.44647216796875
                    },
                    "rotation": {
                        "roll": 0.00138625199906528,
                        "pitch": -0.5208770036697388,
                        "yaw": -170.81016540527344
                    }
                },
                "velocity": {
                    "x": -12.677980422973633,
                    "y": -2.0512588024139404,
                    "z": -0.12159072607755661
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038317680358887,
                "transform": {
                    "location": {
                        "x": 2992.205322265625,
                        "y": 4272.416015625,
                        "z": 361.256591796875
                    },
                    "rotation": {
                        "roll": 0.0008183174068108201,
                        "pitch": 0.5334172248840332,
                        "yaw": 9.198622703552246
                    }
                },
                "velocity": {
                    "x": 7.934604167938232,
                    "y": 1.2850021123886108,
                    "z": 0.07328832149505615
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0701904296875,
                "transform": {
                    "location": {
                        "x": 2994.154541015625,
                        "y": 4269.43798828125,
                        "z": 361.2734375
                    },
                    "rotation": {
                        "roll": 0.0002982068108394742,
                        "pitch": 0.535944402217865,
                        "yaw": 9.182779312133789
                    }
                },
                "velocity": {
                    "x": 7.9662909507751465,
                    "y": 1.2885651588439941,
                    "z": 0.07605130970478058
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.737897872924805,
                "transform": {
                    "location": {
                        "x": 3031.573486328125,
                        "y": 4278.78564453125,
                        "z": 361.62432861328125
                    },
                    "rotation": {
                        "roll": 0.00021811580518260598,
                        "pitch": 0.5490788817405701,
                        "yaw": 9.186028480529785
                    }
                },
                "velocity": {
                    "x": 5.66403865814209,
                    "y": 0.915981650352478,
                    "z": 0.05578548461198807
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.513873100280762,
                "transform": {
                    "location": {
                        "x": 3033.0771484375,
                        "y": 4275.736328125,
                        "z": 361.63580322265625
                    },
                    "rotation": {
                        "roll": 0.00028141445363871753,
                        "pitch": 0.544140636920929,
                        "yaw": 9.191688537597656
                    }
                },
                "velocity": {
                    "x": 5.442828178405762,
                    "y": 0.8807182312011719,
                    "z": 0.05248410254716873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.608670234680176,
                "transform": {
                    "location": {
                        "x": 2975.747314453125,
                        "y": 4262.96435546875,
                        "z": 361.0901184082031
                    },
                    "rotation": {
                        "roll": 0.0024626797530800104,
                        "pitch": -0.5730528235435486,
                        "yaw": -170.81808471679688
                    }
                },
                "velocity": {
                    "x": -8.49802017211914,
                    "y": -1.3737138509750366,
                    "z": -0.07593347132205963
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.846911430358887,
                "transform": {
                    "location": {
                        "x": 2957.021240234375,
                        "y": 4259.93408203125,
                        "z": 360.939453125
                    },
                    "rotation": {
                        "roll": 0.0006555907893925905,
                        "pitch": -0.5107410550117493,
                        "yaw": -170.83847045898438
                    }
                },
                "velocity": {
                    "x": -6.75911283493042,
                    "y": -1.0915133953094482,
                    "z": -0.05642159655690193
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04553712159395218,
        "expert_target_speed": 7.538683685469746,
        "target_point": [
            14.153244708969188,
            -0.1890986197912392
        ],
        "target_point_next": [
            65.1420553236193,
            -1.2601062942773034
        ]
    },
    "200": {
        "acceleration": [
            1.3468456268310547,
            0.3936958312988281,
            0.01939907670021057
        ],
        "angular_velocity": [
            0.2083260715007782,
            -0.13574804365634918,
            2.3140718936920166
        ],
        "forward_vector": [
            -0.9834368824958801,
            -0.18088169395923615,
            -0.011566261760890484
        ],
        "right_vector": [
            0.1808931976556778,
            -0.9835027456283569,
            5.2194456657161936e-05
        ],
        "location": [
            3003.3134765625,
            4264.30859375,
            361.34136962890625
        ],
        "rotation": [
            -0.0029907221905887127,
            -0.6627127528190613,
            -169.5781707763672
        ],
        "velocity": [
            -6.16637659072876,
            -1.1139817237854004,
            -0.05850701034069061
        ],
        "speed": 6.266191470072993,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 71.90718078613281,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.669653415679932,
                "transform": {
                    "location": {
                        "x": 3040.183349609375,
                        "y": 4270.19970703125,
                        "z": 361.9823303222656
                    },
                    "rotation": {
                        "roll": 6.670417107557114e-09,
                        "pitch": -0.5527945160865784,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -6.407824516296387,
                    "y": -1.0368751287460327,
                    "z": -1.5326299667358398
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.244266986846924,
                "transform": {
                    "location": {
                        "x": 3032.42431640625,
                        "y": 4272.1806640625,
                        "z": 361.6224670410156
                    },
                    "rotation": {
                        "roll": -0.0030517575796693563,
                        "pitch": -0.5502946376800537,
                        "yaw": -170.2440185546875
                    }
                },
                "velocity": {
                    "x": -6.15631628036499,
                    "y": -1.0425128936767578,
                    "z": -0.06167643517255783
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.707475662231445,
                "transform": {
                    "location": {
                        "x": 2950.635009765625,
                        "y": 4265.65478515625,
                        "z": 360.89306640625
                    },
                    "rotation": {
                        "roll": 0.01382239256054163,
                        "pitch": 0.7659237384796143,
                        "yaw": 9.604235649108887
                    }
                },
                "velocity": {
                    "x": 7.601290702819824,
                    "y": 1.2735958099365234,
                    "z": 0.059246908873319626
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.283166885375977,
                "transform": {
                    "location": {
                        "x": 2953.810791015625,
                        "y": 4262.884765625,
                        "z": 360.906982421875
                    },
                    "rotation": {
                        "roll": 0.018330665305256844,
                        "pitch": 1.010342001914978,
                        "yaw": 9.455804824829102
                    }
                },
                "velocity": {
                    "x": 8.171260833740234,
                    "y": 1.3553937673568726,
                    "z": 0.06527789682149887
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.13871955871582,
                "transform": {
                    "location": {
                        "x": 3024.69482421875,
                        "y": 4267.59521484375,
                        "z": 361.5506591796875
                    },
                    "rotation": {
                        "roll": 0.004812127444893122,
                        "pitch": -0.200131356716156,
                        "yaw": -170.53915405273438
                    }
                },
                "velocity": {
                    "x": -9.018488883972168,
                    "y": -1.4749163389205933,
                    "z": -0.08755283802747726
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.496387481689453,
                "transform": {
                    "location": {
                        "x": 3011.024658203125,
                        "y": 4268.67138671875,
                        "z": 361.41534423828125
                    },
                    "rotation": {
                        "roll": 0.0009958043228834867,
                        "pitch": -0.5188894271850586,
                        "yaw": -170.81820678710938
                    }
                },
                "velocity": {
                    "x": -13.322736740112305,
                    "y": -2.1542913913726807,
                    "z": -0.1272537261247635
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03066635131836,
                "transform": {
                    "location": {
                        "x": 2994.1875,
                        "y": 4272.736328125,
                        "z": 361.2751159667969
                    },
                    "rotation": {
                        "roll": 0.0007351242238655686,
                        "pitch": 0.5335538387298584,
                        "yaw": 9.191701889038086
                    }
                },
                "velocity": {
                    "x": 7.927213668823242,
                    "y": 1.2827955484390259,
                    "z": 0.07297473400831223
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.064504623413086,
                "transform": {
                    "location": {
                        "x": 2996.145263671875,
                        "y": 4269.759765625,
                        "z": 361.29205322265625
                    },
                    "rotation": {
                        "roll": 1.4511442714137957e-05,
                        "pitch": 0.532529354095459,
                        "yaw": 9.204233169555664
                    }
                },
                "velocity": {
                    "x": 7.960628032684326,
                    "y": 1.2879772186279297,
                    "z": 0.07590324431657791
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.313348770141602,
                "transform": {
                    "location": {
                        "x": 3032.9384765625,
                        "y": 4279.00634765625,
                        "z": 361.6376037597656
                    },
                    "rotation": {
                        "roll": 0.0006007529445923865,
                        "pitch": 0.5384032726287842,
                        "yaw": 9.186927795410156
                    }
                },
                "velocity": {
                    "x": 5.244873046875,
                    "y": 0.84871906042099,
                    "z": 0.051550738513469696
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.281785488128662,
                "transform": {
                    "location": {
                        "x": 3034.40771484375,
                        "y": 4275.95166015625,
                        "z": 361.6487121582031
                    },
                    "rotation": {
                        "roll": -0.0003051711246371269,
                        "pitch": 0.5441747903823853,
                        "yaw": 9.191221237182617
                    }
                },
                "velocity": {
                    "x": 5.21372127532959,
                    "y": 0.8436207175254822,
                    "z": 0.05168440565466881
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.129357814788818,
                "transform": {
                    "location": {
                        "x": 2973.81640625,
                        "y": 4262.65234375,
                        "z": 361.0743408203125
                    },
                    "rotation": {
                        "roll": 5.721038542105816e-05,
                        "pitch": -0.9312074780464172,
                        "yaw": -170.8155975341797
                    }
                },
                "velocity": {
                    "x": -7.0376811027526855,
                    "y": -1.1378940343856812,
                    "z": -0.06313102692365646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.774527549743652,
                "transform": {
                    "location": {
                        "x": 2955.3359375,
                        "y": 4259.66162109375,
                        "z": 360.9254150390625
                    },
                    "rotation": {
                        "roll": -0.001312249805778265,
                        "pitch": -0.4647192060947418,
                        "yaw": -170.80409240722656
                    }
                },
                "velocity": {
                    "x": -6.687358379364014,
                    "y": -1.0818568468093872,
                    "z": -0.0552029013633728
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.023574091494083405,
        "expert_target_speed": 7.2112735648671595,
        "target_point": [
            12.542089675865128,
            -0.1958465740465689
        ],
        "target_point_next": [
            63.530389542007576,
            -1.2909000411443952
        ]
    },
    "205": {
        "acceleration": [
            0.05169868469238281,
            0.13342857360839844,
            -0.0019030272960662842
        ],
        "angular_velocity": [
            -0.04611586034297943,
            0.3330768644809723,
            -4.3204779624938965
        ],
        "forward_vector": [
            -0.9843512177467346,
            -0.17586418986320496,
            -0.011157279834151268
        ],
        "right_vector": [
            0.17587925493717194,
            -0.9844117164611816,
            -0.0003777465899474919
        ],
        "location": [
            3001.798583984375,
            4264.03857421875,
            361.3270263671875
        ],
        "rotation": [
            0.021644633263349533,
            -0.6392783522605896,
            -169.8704071044922
        ],
        "velocity": [
            -6.013702869415283,
            -1.0551680326461792,
            -0.0564875490963459
        ],
        "speed": 6.105571372011961,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 70.36834716796875,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.415348052978516,
                "transform": {
                    "location": {
                        "x": 3038.616455078125,
                        "y": 4269.94189453125,
                        "z": 361.60797119140625
                    },
                    "rotation": {
                        "roll": -0.005340577103197575,
                        "pitch": -0.5538327097892761,
                        "yaw": -170.634765625
                    }
                },
                "velocity": {
                    "x": -6.322305679321289,
                    "y": -1.0820788145065308,
                    "z": -0.11936763674020767
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.304994106292725,
                "transform": {
                    "location": {
                        "x": 3030.759521484375,
                        "y": 4271.8984375,
                        "z": 361.6058044433594
                    },
                    "rotation": {
                        "roll": -0.0031433068215847015,
                        "pitch": -0.5197432041168213,
                        "yaw": -170.40452575683594
                    }
                },
                "velocity": {
                    "x": -7.203459739685059,
                    "y": -1.2116875648498535,
                    "z": -0.0701434314250946
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.31159782409668,
                "transform": {
                    "location": {
                        "x": 2952.677734375,
                        "y": 4265.9951171875,
                        "z": 360.9092102050781
                    },
                    "rotation": {
                        "roll": 0.01253458671271801,
                        "pitch": 0.6323661804199219,
                        "yaw": 9.467458724975586
                    }
                },
                "velocity": {
                    "x": 8.199188232421875,
                    "y": 1.3608345985412598,
                    "z": 0.06406746059656143
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.068742752075195,
                "transform": {
                    "location": {
                        "x": 2955.8505859375,
                        "y": 4263.22314453125,
                        "z": 360.9246520996094
                    },
                    "rotation": {
                        "roll": 0.008873478509485722,
                        "pitch": 0.6544208526611328,
                        "yaw": 9.416287422180176
                    }
                },
                "velocity": {
                    "x": 7.959784507751465,
                    "y": 1.3199800252914429,
                    "z": 0.0640338882803917
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.882315635681152,
                "transform": {
                    "location": {
                        "x": 3022.303955078125,
                        "y": 4267.2041015625,
                        "z": 361.5283508300781
                    },
                    "rotation": {
                        "roll": 0.007572654169052839,
                        "pitch": -0.3004736602306366,
                        "yaw": -170.72991943359375
                    }
                },
                "velocity": {
                    "x": -9.75398063659668,
                    "y": -1.5846058130264282,
                    "z": -0.09507708996534348
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.150703430175781,
                "transform": {
                    "location": {
                        "x": 3007.60986328125,
                        "y": 4268.119140625,
                        "z": 361.3829345703125
                    },
                    "rotation": {
                        "roll": 0.00047730503138154745,
                        "pitch": -0.5097301602363586,
                        "yaw": -170.8206787109375
                    }
                },
                "velocity": {
                    "x": -13.968562126159668,
                    "y": -2.2592921257019043,
                    "z": -0.13145959377288818
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040550231933594,
                "transform": {
                    "location": {
                        "x": 2996.1708984375,
                        "y": 4273.056640625,
                        "z": 361.2936096191406
                    },
                    "rotation": {
                        "roll": 0.001315582194365561,
                        "pitch": 0.5343051552772522,
                        "yaw": 9.18830680847168
                    }
                },
                "velocity": {
                    "x": 7.937056064605713,
                    "y": 1.283811330795288,
                    "z": 0.0735531821846962
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.065991401672363,
                "transform": {
                    "location": {
                        "x": 2998.135498046875,
                        "y": 4270.08251953125,
                        "z": 361.31060791015625
                    },
                    "rotation": {
                        "roll": 0.0004670644411817193,
                        "pitch": 0.533806562423706,
                        "yaw": 9.173002243041992
                    }
                },
                "velocity": {
                    "x": 7.9623565673828125,
                    "y": 1.2865993976593018,
                    "z": 0.07591266185045242
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.218241214752197,
                "transform": {
                    "location": {
                        "x": 3034.226806640625,
                        "y": 4279.21484375,
                        "z": 361.650146484375
                    },
                    "rotation": {
                        "roll": 0.0004507059056777507,
                        "pitch": 0.5418525338172913,
                        "yaw": 9.190589904785156
                    }
                },
                "velocity": {
                    "x": 5.151002883911133,
                    "y": 0.8335397243499756,
                    "z": 0.04923006892204285
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.148315906524658,
                "transform": {
                    "location": {
                        "x": 3035.6943359375,
                        "y": 4276.15966796875,
                        "z": 361.6612548828125
                    },
                    "rotation": {
                        "roll": 0.0004213996871840209,
                        "pitch": 0.5444889664649963,
                        "yaw": 9.191080093383789
                    }
                },
                "velocity": {
                    "x": 5.0819854736328125,
                    "y": 0.8223000764846802,
                    "z": 0.049031760543584824
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.3380351066589355,
                "transform": {
                    "location": {
                        "x": 2972.189208984375,
                        "y": 4262.38916015625,
                        "z": 361.05999755859375
                    },
                    "rotation": {
                        "roll": 0.0025096654426306486,
                        "pitch": -0.9216588735580444,
                        "yaw": -170.81651306152344
                    }
                },
                "velocity": {
                    "x": -6.256528854370117,
                    "y": -1.0116677284240723,
                    "z": -0.055346351116895676
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.816810131072998,
                "transform": {
                    "location": {
                        "x": 2953.84814453125,
                        "y": 4259.4189453125,
                        "z": 360.9162292480469
                    },
                    "rotation": {
                        "roll": 0.0005589918000623584,
                        "pitch": -0.8176828622817993,
                        "yaw": -171.03233337402344
                    }
                },
                "velocity": {
                    "x": -4.754494667053223,
                    "y": -0.7713147401809692,
                    "z": -0.03890661522746086
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01746298000216484,
        "expert_target_speed": 7.072147672605125,
        "target_point": [
            11.004156526768359,
            -0.13125466428573995
        ],
        "target_point_next": [
            61.99737824893282,
            -0.9662419274452088
        ]
    },
    "210": {
        "acceleration": [
            -1.1562442779541016,
            -0.07500648498535156,
            -0.007860511541366577
        ],
        "angular_velocity": [
            -0.09077189862728119,
            0.4622088670730591,
            2.015882730484009
        ],
        "forward_vector": [
            -0.9850868582725525,
            -0.17180609703063965,
            -0.009301288984715939
        ],
        "right_vector": [
            0.17181867361068726,
            -0.9851284027099609,
            -0.0005643251934088767
        ],
        "location": [
            3000.2783203125,
            4263.77490234375,
            361.3123474121094
        ],
        "rotation": [
            0.03233485668897629,
            -0.5329322814941406,
            -170.10671997070312
        ],
        "velocity": [
            -6.187774658203125,
            -1.055543303489685,
            -0.05677943676710129
        ],
        "speed": 6.277159141382566,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 68.82532501220703,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.205379486083984,
                "transform": {
                    "location": {
                        "x": 3037.06396484375,
                        "y": 4269.6767578125,
                        "z": 361.6462097167969
                    },
                    "rotation": {
                        "roll": -0.006286619696766138,
                        "pitch": -0.5486758947372437,
                        "yaw": -170.31715393066406
                    }
                },
                "velocity": {
                    "x": -6.113125324249268,
                    "y": -1.059735655784607,
                    "z": 0.11572656035423279
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.222355842590332,
                "transform": {
                    "location": {
                        "x": 3028.85888671875,
                        "y": 4271.57958984375,
                        "z": 361.58740234375
                    },
                    "rotation": {
                        "roll": -0.0008239823509939015,
                        "pitch": -0.5216420292854309,
                        "yaw": -170.5208740234375
                    }
                },
                "velocity": {
                    "x": -8.111077308654785,
                    "y": -1.3458917140960693,
                    "z": -0.07837019115686417
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.807944297790527,
                "transform": {
                    "location": {
                        "x": 2954.65185546875,
                        "y": 4266.322265625,
                        "z": 360.92486572265625
                    },
                    "rotation": {
                        "roll": 0.008291738107800484,
                        "pitch": 0.42153194546699524,
                        "yaw": 9.382756233215332
                    }
                },
                "velocity": {
                    "x": 7.703365325927734,
                    "y": 1.2720813751220703,
                    "z": 0.06294170022010803
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.854898929595947,
                "transform": {
                    "location": {
                        "x": 2957.79150390625,
                        "y": 4263.54248046875,
                        "z": 360.9411315917969
                    },
                    "rotation": {
                        "roll": 0.016055438667535782,
                        "pitch": 0.4425210952758789,
                        "yaw": 9.331100463867188
                    }
                },
                "velocity": {
                    "x": 7.751441955566406,
                    "y": 1.2690389156341553,
                    "z": 0.06422574818134308
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.271904945373535,
                "transform": {
                    "location": {
                        "x": 3019.75244140625,
                        "y": 4266.7900390625,
                        "z": 361.50506591796875
                    },
                    "rotation": {
                        "roll": 0.004444395191967487,
                        "pitch": -0.4705180525779724,
                        "yaw": -170.7705841064453
                    }
                },
                "velocity": {
                    "x": -10.139399528503418,
                    "y": -1.6416512727737427,
                    "z": -0.0979330986738205
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.804317474365234,
                "transform": {
                    "location": {
                        "x": 3004.033935546875,
                        "y": 4267.541015625,
                        "z": 361.3492736816406
                    },
                    "rotation": {
                        "roll": 0.001225584070198238,
                        "pitch": -0.510836660861969,
                        "yaw": -170.82205200195312
                    }
                },
                "velocity": {
                    "x": -14.614075660705566,
                    "y": -2.361743211746216,
                    "z": -0.13698206841945648
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03264331817627,
                "transform": {
                    "location": {
                        "x": 2998.154052734375,
                        "y": 4273.376953125,
                        "z": 361.3121337890625
                    },
                    "rotation": {
                        "roll": 0.0004126439453102648,
                        "pitch": 0.5325088500976562,
                        "yaw": 9.188070297241211
                    }
                },
                "velocity": {
                    "x": 7.9292731285095215,
                    "y": 1.2824257612228394,
                    "z": 0.07328479737043381
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.067413330078125,
                "transform": {
                    "location": {
                        "x": 3000.12646484375,
                        "y": 4270.40478515625,
                        "z": 361.3292236328125
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.5341617465019226,
                        "yaw": 9.19892692565918
                    }
                },
                "velocity": {
                    "x": 7.963569641113281,
                    "y": 1.2879868745803833,
                    "z": 0.0761265903711319
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.101830959320068,
                "transform": {
                    "location": {
                        "x": 3035.509033203125,
                        "y": 4279.42236328125,
                        "z": 361.6624450683594
                    },
                    "rotation": {
                        "roll": -0.0007629415486007929,
                        "pitch": 0.5470297932624817,
                        "yaw": 9.18879508972168
                    }
                },
                "velocity": {
                    "x": 5.036190986633301,
                    "y": 0.8143210411071777,
                    "z": 0.04839485138654709
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.987313747406006,
                "transform": {
                    "location": {
                        "x": 3036.942626953125,
                        "y": 4276.361328125,
                        "z": 361.67327880859375
                    },
                    "rotation": {
                        "roll": -0.00030517118284478784,
                        "pitch": 0.5458686947822571,
                        "yaw": 9.19107723236084
                    }
                },
                "velocity": {
                    "x": 4.923053741455078,
                    "y": 0.7965622544288635,
                    "z": 0.048255909234285355
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.964114189147949,
                "transform": {
                    "location": {
                        "x": 2971.11767578125,
                        "y": 4262.2158203125,
                        "z": 361.05279541015625
                    },
                    "rotation": {
                        "roll": 1.6361464076908305e-05,
                        "pitch": -1.598107099533081,
                        "yaw": -170.79551696777344
                    }
                },
                "velocity": {
                    "x": -2.9258804321289062,
                    "y": -0.4738102853298187,
                    "z": -0.02648010104894638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.066734313964844,
                "transform": {
                    "location": {
                        "x": 2952.606689453125,
                        "y": 4259.21923828125,
                        "z": 360.90472412109375
                    },
                    "rotation": {
                        "roll": 0.004166434984654188,
                        "pitch": -0.5933521389961243,
                        "yaw": -170.97970581054688
                    }
                },
                "velocity": {
                    "x": -5.002074241638184,
                    "y": -0.8060105443000793,
                    "z": -0.037423547357320786
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.008030328899621964,
        "expert_target_speed": 7.220583712707714,
        "target_point": [
            9.461645328455015,
            -0.0844143996045581
        ],
        "target_point_next": [
            60.45787729917273,
            -0.7090664020932316
        ]
    },
    "215": {
        "acceleration": [
            -1.8036365509033203,
            -0.181732177734375,
            0.00794142484664917
        ],
        "angular_velocity": [
            0.056764911860227585,
            0.37546807527542114,
            -4.016777038574219
        ],
        "forward_vector": [
            -0.98597651720047,
            -0.16671933233737946,
            -0.007409265730530024
        ],
        "right_vector": [
            0.16672885417938232,
            -0.9860025644302368,
            -0.0006836020620539784
        ],
        "location": [
            2998.681884765625,
            4263.5048828125,
            361.2970275878906
        ],
        "rotation": [
            0.0391685925424099,
            -0.42452356219291687,
            -170.40260314941406
        ],
        "velocity": [
            -6.585245132446289,
            -1.0940473079681396,
            -0.06081558018922806
        ],
        "speed": 6.675506944530871,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 67.20619201660156,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2919.81494140625,
                        "y": 4257.3076171875,
                        "z": 361.043701171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4099137783050537,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.626870632171631,
                "transform": {
                    "location": {
                        "x": 3035.49560546875,
                        "y": 4269.4052734375,
                        "z": 361.6490173339844
                    },
                    "rotation": {
                        "roll": -0.006500240880995989,
                        "pitch": -0.5433278679847717,
                        "yaw": -170.1573028564453
                    }
                },
                "velocity": {
                    "x": -6.528046131134033,
                    "y": -1.1391428709030151,
                    "z": -0.04883163049817085
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.516742706298828,
                "transform": {
                    "location": {
                        "x": 3026.630615234375,
                        "y": 4271.21044921875,
                        "z": 361.5657043457031
                    },
                    "rotation": {
                        "roll": 0.00029013093444518745,
                        "pitch": -0.5068068504333496,
                        "yaw": -170.6671905517578
                    }
                },
                "velocity": {
                    "x": -9.390069007873535,
                    "y": -1.544894814491272,
                    "z": -0.09112116694450378
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.1200590133667,
                "transform": {
                    "location": {
                        "x": 2956.6083984375,
                        "y": 4266.64404296875,
                        "z": 360.9407653808594
                    },
                    "rotation": {
                        "roll": 0.007911993190646172,
                        "pitch": 0.4993346035480499,
                        "yaw": 9.338363647460938
                    }
                },
                "velocity": {
                    "x": 8.013019561767578,
                    "y": 1.3124897480010986,
                    "z": 0.0652422308921814
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.161078453063965,
                "transform": {
                    "location": {
                        "x": 2959.77734375,
                        "y": 4263.8671875,
                        "z": 360.9571838378906
                    },
                    "rotation": {
                        "roll": 0.010647634975612164,
                        "pitch": 0.5577942132949829,
                        "yaw": 9.285651206970215
                    }
                },
                "velocity": {
                    "x": 8.054117202758789,
                    "y": 1.3153681755065918,
                    "z": 0.06482189148664474
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.180391311645508,
                "transform": {
                    "location": {
                        "x": 3017.345947265625,
                        "y": 4266.39990234375,
                        "z": 361.484375
                    },
                    "rotation": {
                        "roll": 0.0009373573120683432,
                        "pitch": -0.7819746732711792,
                        "yaw": -170.84596252441406
                    }
                },
                "velocity": {
                    "x": -9.062506675720215,
                    "y": -1.4638886451721191,
                    "z": -0.08713005483150482
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.95686149597168,
                "transform": {
                    "location": {
                        "x": 3000.322509765625,
                        "y": 4266.94091796875,
                        "z": 361.3145751953125
                    },
                    "rotation": {
                        "roll": 0.0011997377732768655,
                        "pitch": -0.5181517601013184,
                        "yaw": -170.8178253173828
                    }
                },
                "velocity": {
                    "x": -14.7645263671875,
                    "y": -2.3869078159332275,
                    "z": -0.13830798864364624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036971092224121,
                "transform": {
                    "location": {
                        "x": 3000.13671875,
                        "y": 4273.697265625,
                        "z": 361.3306579589844
                    },
                    "rotation": {
                        "roll": 0.0009880125289782882,
                        "pitch": 0.5348925590515137,
                        "yaw": 9.188138961791992
                    }
                },
                "velocity": {
                    "x": 7.933515548706055,
                    "y": 1.2832695245742798,
                    "z": 0.07392554730176926
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0665283203125,
                "transform": {
                    "location": {
                        "x": 3002.1171875,
                        "y": 4270.72705078125,
                        "z": 361.3478698730469
                    },
                    "rotation": {
                        "roll": 0.0005710329278372228,
                        "pitch": 0.5377476215362549,
                        "yaw": 9.172186851501465
                    }
                },
                "velocity": {
                    "x": 7.962889671325684,
                    "y": 1.286659836769104,
                    "z": 0.07598863542079926
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.978170394897461,
                "transform": {
                    "location": {
                        "x": 3036.754638671875,
                        "y": 4279.62353515625,
                        "z": 361.6744689941406
                    },
                    "rotation": {
                        "roll": 0.000566901289857924,
                        "pitch": 0.5445846319198608,
                        "yaw": 9.214157104492188
                    }
                },
                "velocity": {
                    "x": 4.914101600646973,
                    "y": 0.7949259281158447,
                    "z": 0.04336978867650032
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.828619003295898,
                "transform": {
                    "location": {
                        "x": 3038.166748046875,
                        "y": 4276.5595703125,
                        "z": 361.6849670410156
                    },
                    "rotation": {
                        "roll": 0.00010315789404558018,
                        "pitch": 0.5471049547195435,
                        "yaw": 9.190295219421387
                    }
                },
                "velocity": {
                    "x": 4.7664361000061035,
                    "y": 0.7710540890693665,
                    "z": 0.046096306294202805
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.736713409423828,
                "transform": {
                    "location": {
                        "x": 2970.3095703125,
                        "y": 4262.08544921875,
                        "z": 361.0428771972656
                    },
                    "rotation": {
                        "roll": 0.0008320073829963803,
                        "pitch": -0.8192743062973022,
                        "yaw": -170.8011474609375
                    }
                },
                "velocity": {
                    "x": -3.688652753829956,
                    "y": -0.596572995185852,
                    "z": -0.031127413734793663
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4623,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.96546745300293,
                "transform": {
                    "location": {
                        "x": 2951.25341796875,
                        "y": 4259.001953125,
                        "z": 360.891357421875
                    },
                    "rotation": {
                        "roll": -0.0011596677359193563,
                        "pitch": -0.23394761979579926,
                        "yaw": -170.86329650878906
                    }
                },
                "velocity": {
                    "x": -5.888697147369385,
                    "y": -0.9528733491897583,
                    "z": -0.045652735978364944
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.002271797973662615,
        "expert_target_speed": 7.559185358880776,
        "target_point": [
            7.8428451519211055,
            -0.03562827415332381
        ],
        "target_point_next": [
            58.8416229100492,
            -0.3969211090160556
        ]
    },
    "220": {
        "acceleration": [
            -1.9929313659667969,
            -0.17832040786743164,
            -0.00486329197883606
        ],
        "angular_velocity": [
            -0.01995391584932804,
            0.19775740802288055,
            1.660224199295044
        ],
        "forward_vector": [
            -0.9866998791694641,
            -0.1624341458082199,
            -0.006209929473698139
        ],
        "right_vector": [
            0.1624421626329422,
            -0.9867177605628967,
            -0.0008050616015680134
        ],
        "location": [
            2996.972412109375,
            4263.22412109375,
            361.28082275390625
        ],
        "rotation": [
            0.046127524226903915,
            -0.35580503940582275,
            -170.651611328125
        ],
        "velocity": [
            -7.071593284606934,
            -1.1404521465301514,
            -0.06512998789548874
        ],
        "speed": 7.162964657278654,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 65.47388458251953,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.084414958953857,
                "transform": {
                    "location": {
                        "x": 3039.627197265625,
                        "y": 4273.40283203125,
                        "z": 362.0848388671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5507795810699463,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -6.971730709075928,
                    "y": -1.1281228065490723,
                    "z": -0.5578920841217041
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.919189453125,
                        "y": 4260.1318359375,
                        "z": 360.9410095214844
                    },
                    "rotation": {
                        "roll": 3.335137499504981e-09,
                        "pitch": 0.4068470299243927,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2921.830810546875,
                        "y": 4257.63330078125,
                        "z": 360.7752990722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.41485199332237244,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.882812976837158,
                "transform": {
                    "location": {
                        "x": 3033.71484375,
                        "y": 4269.10009765625,
                        "z": 361.6318359375
                    },
                    "rotation": {
                        "roll": -0.002410890068858862,
                        "pitch": -0.5223933458328247,
                        "yaw": -170.29061889648438
                    }
                },
                "velocity": {
                    "x": -7.771968841552734,
                    "y": -1.3149900436401367,
                    "z": -0.07772114872932434
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.269280433654785,
                "transform": {
                    "location": {
                        "x": 3024.18408203125,
                        "y": 4270.80810546875,
                        "z": 361.5420227050781
                    },
                    "rotation": {
                        "roll": 0.0006764536956325173,
                        "pitch": -0.5230353474617004,
                        "yaw": -170.73696899414062
                    }
                },
                "velocity": {
                    "x": -10.134119987487793,
                    "y": -1.6577471494674683,
                    "z": -0.0980055183172226
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.072383880615234,
                "transform": {
                    "location": {
                        "x": 2958.61865234375,
                        "y": 4266.97265625,
                        "z": 360.9571838378906
                    },
                    "rotation": {
                        "roll": 0.0055921790190041065,
                        "pitch": 0.47490301728248596,
                        "yaw": 9.273192405700684
                    }
                },
                "velocity": {
                    "x": 7.966555595397949,
                    "y": 1.3012313842773438,
                    "z": 0.06454824656248093
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.975579738616943,
                "transform": {
                    "location": {
                        "x": 2961.76953125,
                        "y": 4264.1923828125,
                        "z": 360.9738464355469
                    },
                    "rotation": {
                        "roll": 0.007582113146781921,
                        "pitch": 0.46495145559310913,
                        "yaw": 9.261894226074219
                    }
                },
                "velocity": {
                    "x": 7.8717041015625,
                    "y": 1.2814043760299683,
                    "z": 0.06439628452062607
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.166571617126465,
                "transform": {
                    "location": {
                        "x": 3015.233642578125,
                        "y": 4266.05908203125,
                        "z": 361.4645690917969
                    },
                    "rotation": {
                        "roll": 0.0020952236372977495,
                        "pitch": -0.8365752100944519,
                        "yaw": -170.83395385742188
                    }
                },
                "velocity": {
                    "x": -8.061992645263672,
                    "y": -1.3004553318023682,
                    "z": -0.07731915265321732
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.745725631713867,
                "transform": {
                    "location": {
                        "x": 2996.7802734375,
                        "y": 4266.36865234375,
                        "z": 361.2818908691406
                    },
                    "rotation": {
                        "roll": 0.0006739131058566272,
                        "pitch": -0.5606014132499695,
                        "yaw": -170.8082733154297
                    }
                },
                "velocity": {
                    "x": -13.568821907043457,
                    "y": -2.1945669651031494,
                    "z": -0.1261969357728958
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034988403320312,
                "transform": {
                    "location": {
                        "x": 3002.120361328125,
                        "y": 4274.017578125,
                        "z": 361.3492126464844
                    },
                    "rotation": {
                        "roll": -0.0005493175704032183,
                        "pitch": 0.5393936634063721,
                        "yaw": 9.188192367553711
                    }
                },
                "velocity": {
                    "x": 7.931552410125732,
                    "y": 1.2828900814056396,
                    "z": 0.07555368542671204
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.066143035888672,
                "transform": {
                    "location": {
                        "x": 3004.107666015625,
                        "y": 4271.04931640625,
                        "z": 361.36663818359375
                    },
                    "rotation": {
                        "roll": -0.0007324268808588386,
                        "pitch": 0.53996741771698,
                        "yaw": 9.199158668518066
                    }
                },
                "velocity": {
                    "x": 7.962330341339111,
                    "y": 1.287706732749939,
                    "z": 0.0759955570101738
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.668546199798584,
                "transform": {
                    "location": {
                        "x": 3037.947998046875,
                        "y": 4279.81689453125,
                        "z": 361.6860046386719
                    },
                    "rotation": {
                        "roll": -0.0004577665822580457,
                        "pitch": 0.542760968208313,
                        "yaw": 9.20838737487793
                    }
                },
                "velocity": {
                    "x": 4.608242511749268,
                    "y": 0.7465862035751343,
                    "z": 0.04509511962532997
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.6180644035339355,
                "transform": {
                    "location": {
                        "x": 3039.325927734375,
                        "y": 4276.7470703125,
                        "z": 361.6963195800781
                    },
                    "rotation": {
                        "roll": -0.0009765616850927472,
                        "pitch": 0.5490720272064209,
                        "yaw": 9.190122604370117
                    }
                },
                "velocity": {
                    "x": 4.558576583862305,
                    "y": 0.7374794483184814,
                    "z": 0.04493739828467369
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.038403511047363,
                "transform": {
                    "location": {
                        "x": 2969.21484375,
                        "y": 4261.908203125,
                        "z": 361.0312805175781
                    },
                    "rotation": {
                        "roll": 0.0003332259657327086,
                        "pitch": -0.22153034806251526,
                        "yaw": -170.8008575439453
                    }
                },
                "velocity": {
                    "x": -4.973413944244385,
                    "y": -0.8055463433265686,
                    "z": -0.04195932298898697
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.011498396284878254,
        "expert_target_speed": 7.961252159419959,
        "target_point": [
            57.11041711875468,
            -0.1405493474521542
        ],
        "target_point_next": [
            108.1102834113203,
            -0.2802041930317216
        ]
    },
    "225": {
        "acceleration": [
            -2.0403671264648438,
            -0.20298004150390625,
            -0.008640587329864502
        ],
        "angular_velocity": [
            0.040834829211235046,
            0.09464659541845322,
            -3.676699161529541
        ],
        "forward_vector": [
            -0.987541913986206,
            -0.1572544127702713,
            -0.005653827451169491
        ],
        "right_vector": [
            0.15726159512996674,
            -0.9875565767288208,
            -0.000847275776322931
        ],
        "location": [
            2995.138671875,
            4262.931640625,
            361.2635803222656
        ],
        "rotation": [
            0.04854610934853554,
            -0.3239421844482422,
            -170.95228576660156
        ],
        "velocity": [
            -7.578553676605225,
            -1.190564513206482,
            -0.0695955902338028
        ],
        "speed": 7.671500484865601,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.61717224121094,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.213232040405273,
                "transform": {
                    "location": {
                        "x": 3037.894287109375,
                        "y": 4273.12255859375,
                        "z": 361.6617126464844
                    },
                    "rotation": {
                        "roll": -0.0028991741128265858,
                        "pitch": -0.5544337630271912,
                        "yaw": -170.78665161132812
                    }
                },
                "velocity": {
                    "x": -6.94173002243042,
                    "y": -1.1542775630950928,
                    "z": -1.5845328569412231
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2918.9697265625,
                        "y": 4260.4638671875,
                        "z": 360.7814636230469
                    },
                    "rotation": {
                        "roll": 3.3351390538172154e-09,
                        "pitch": 0.41084951162338257,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2923.885986328125,
                        "y": 4257.9658203125,
                        "z": 360.7386169433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.41485199332237244,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.778631210327148,
                "transform": {
                    "location": {
                        "x": 3031.604248046875,
                        "y": 4268.74365234375,
                        "z": 361.6109924316406
                    },
                    "rotation": {
                        "roll": -0.0024719254579395056,
                        "pitch": -0.5259450078010559,
                        "yaw": -170.43885803222656
                    }
                },
                "velocity": {
                    "x": -8.657102584838867,
                    "y": -1.4532095193862915,
                    "z": -0.08443374186754227
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.925603866577148,
                "transform": {
                    "location": {
                        "x": 3021.566162109375,
                        "y": 4270.38134765625,
                        "z": 361.5166015625
                    },
                    "rotation": {
                        "roll": 0.0008710690890438855,
                        "pitch": -0.525241494178772,
                        "yaw": -170.77557373046875
                    }
                },
                "velocity": {
                    "x": -10.783161163330078,
                    "y": -1.7554268836975098,
                    "z": -0.10355468839406967
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.957309246063232,
                "transform": {
                    "location": {
                        "x": 2960.5869140625,
                        "y": 4267.2939453125,
                        "z": 360.9734191894531
                    },
                    "rotation": {
                        "roll": 0.003762843320146203,
                        "pitch": 0.4565503001213074,
                        "yaw": 9.27994441986084
                    }
                },
                "velocity": {
                    "x": 7.853492259979248,
                    "y": 1.2795265913009644,
                    "z": 0.06511110067367554
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.004786491394043,
                "transform": {
                    "location": {
                        "x": 2963.7333984375,
                        "y": 4264.51171875,
                        "z": 360.9903564453125
                    },
                    "rotation": {
                        "roll": 0.005735516082495451,
                        "pitch": 0.4805174469947815,
                        "yaw": 9.235355377197266
                    }
                },
                "velocity": {
                    "x": 7.90103006362915,
                    "y": 1.2829772233963013,
                    "z": 0.06557018309831619
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.1972832679748535,
                "transform": {
                    "location": {
                        "x": 3013.5390625,
                        "y": 4265.78515625,
                        "z": 361.4508361816406
                    },
                    "rotation": {
                        "roll": 0.0012153878342360258,
                        "pitch": -1.1572593450546265,
                        "yaw": -170.9041748046875
                    }
                },
                "velocity": {
                    "x": -5.130529880523682,
                    "y": -0.8288486003875732,
                    "z": -0.04928401857614517
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.43655776977539,
                "transform": {
                    "location": {
                        "x": 2993.556884765625,
                        "y": 4265.84716796875,
                        "z": 361.251953125
                    },
                    "rotation": {
                        "roll": -9.15517593966797e-05,
                        "pitch": -0.5714409351348877,
                        "yaw": -170.80203247070312
                    }
                },
                "velocity": {
                    "x": -12.276318550109863,
                    "y": -1.9866406917572021,
                    "z": -0.11503194272518158
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037211418151855,
                "transform": {
                    "location": {
                        "x": 3004.10302734375,
                        "y": 4274.337890625,
                        "z": 361.3679504394531
                    },
                    "rotation": {
                        "roll": -0.0006408687913790345,
                        "pitch": 0.5388404130935669,
                        "yaw": 9.194914817810059
                    }
                },
                "velocity": {
                    "x": 7.9335761070251465,
                    "y": 1.2842786312103271,
                    "z": 0.07587100565433502
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.066410064697266,
                "transform": {
                    "location": {
                        "x": 3006.098388671875,
                        "y": 4271.37158203125,
                        "z": 361.3854064941406
                    },
                    "rotation": {
                        "roll": 0.0009142587659880519,
                        "pitch": 0.5399605631828308,
                        "yaw": 9.17338752746582
                    }
                },
                "velocity": {
                    "x": 7.96260404586792,
                    "y": 1.2876837253570557,
                    "z": 0.0760318711400032
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.589222431182861,
                "transform": {
                    "location": {
                        "x": 3039.088623046875,
                        "y": 4280.001953125,
                        "z": 361.6971435546875
                    },
                    "rotation": {
                        "roll": 0.000904738437384367,
                        "pitch": 0.5511825680732727,
                        "yaw": 9.199997901916504
                    }
                },
                "velocity": {
                    "x": 4.530154228210449,
                    "y": 0.7325345277786255,
                    "z": 0.04535374417901039
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.483659267425537,
                "transform": {
                    "location": {
                        "x": 3040.449951171875,
                        "y": 4276.92919921875,
                        "z": 361.7073059082031
                    },
                    "rotation": {
                        "roll": 0.00029821100179105997,
                        "pitch": 0.5532658100128174,
                        "yaw": 9.191004753112793
                    }
                },
                "velocity": {
                    "x": 4.425888538360596,
                    "y": 0.7160247564315796,
                    "z": 0.044952258467674255
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.362389087677002,
                "transform": {
                    "location": {
                        "x": 2967.90234375,
                        "y": 4261.6953125,
                        "z": 361.0204162597656
                    },
                    "rotation": {
                        "roll": 0.00023538031382486224,
                        "pitch": -0.2514260709285736,
                        "yaw": -170.799560546875
                    }
                },
                "velocity": {
                    "x": -5.293239116668701,
                    "y": -0.8572105169296265,
                    "z": -0.045015882700681686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02503497339785099,
        "expert_target_speed": 8.365306164676463,
        "target_point": [
            55.25344934309893,
            0.15869742193489955
        ],
        "target_point_next": [
            106.25334622710172,
            0.28669412715522213
        ]
    },
    "230": {
        "acceleration": [
            -1.9399166107177734,
            -0.5113720893859863,
            -0.02698168158531189
        ],
        "angular_velocity": [
            -0.37606191635131836,
            -0.05491895228624344,
            3.2767105102539062
        ],
        "forward_vector": [
            -0.9876369833946228,
            -0.15666310489177704,
            -0.005460592918097973
        ],
        "right_vector": [
            0.15666550397872925,
            -0.9876517057418823,
            -1.181778497993946e-05
        ],
        "location": [
            2993.17919921875,
            4262.6220703125,
            361.24530029296875
        ],
        "rotation": [
            0.0006771193002350628,
            -0.31287047266960144,
            -170.98660278320312
        ],
        "velocity": [
            -8.072875022888184,
            -1.2927061319351196,
            -0.07460425049066544
        ],
        "speed": 8.175720168811708,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 61.633697509765625,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.791387557983398,
                "transform": {
                    "location": {
                        "x": 3036.203125,
                        "y": 4272.8369140625,
                        "z": 361.6185607910156
                    },
                    "rotation": {
                        "roll": -0.008972173556685448,
                        "pitch": -0.5503219962120056,
                        "yaw": -170.38189697265625
                    }
                },
                "velocity": {
                    "x": -6.688515663146973,
                    "y": -1.1598657369613647,
                    "z": 0.20351819694042206
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2921.022705078125,
                        "y": 4260.79541015625,
                        "z": 360.6899108886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.41485199332237244,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.067586898803711,
                "transform": {
                    "location": {
                        "x": 2925.90576171875,
                        "y": 4258.29833984375,
                        "z": 360.7059020996094
                    },
                    "rotation": {
                        "roll": -0.0060119591653347015,
                        "pitch": 0.40833601355552673,
                        "yaw": 9.38478946685791
                    }
                },
                "velocity": {
                    "x": 7.951344966888428,
                    "y": 1.3633334636688232,
                    "z": -0.05825306847691536
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.580460548400879,
                "transform": {
                    "location": {
                        "x": 3029.578369140625,
                        "y": 4268.40380859375,
                        "z": 361.5916748046875
                    },
                    "rotation": {
                        "roll": -0.0026245154440402985,
                        "pitch": -0.5675613880157471,
                        "yaw": -170.5234832763672
                    }
                },
                "velocity": {
                    "x": -7.477799415588379,
                    "y": -1.2411937713623047,
                    "z": -0.07306048274040222
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.61270809173584,
                "transform": {
                    "location": {
                        "x": 3018.78173828125,
                        "y": 4269.9287109375,
                        "z": 361.48980712890625
                    },
                    "rotation": {
                        "roll": 0.0018920175498351455,
                        "pitch": -0.5218468904495239,
                        "yaw": -170.7908172607422
                    }
                },
                "velocity": {
                    "x": -11.462211608886719,
                    "y": -1.8602697849273682,
                    "z": -0.11002559214830399
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.091645240783691,
                "transform": {
                    "location": {
                        "x": 2962.5703125,
                        "y": 4267.61669921875,
                        "z": 360.9899597167969
                    },
                    "rotation": {
                        "roll": 0.003474251367151737,
                        "pitch": 0.4951818585395813,
                        "yaw": 9.226038932800293
                    }
                },
                "velocity": {
                    "x": 7.986640453338623,
                    "y": 1.297600507736206,
                    "z": 0.06730863451957703
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0722074508667,
                "transform": {
                    "location": {
                        "x": 2965.7236328125,
                        "y": 4264.83544921875,
                        "z": 361.00701904296875
                    },
                    "rotation": {
                        "roll": 0.002551094861701131,
                        "pitch": 0.514306366443634,
                        "yaw": 9.23208236694336
                    }
                },
                "velocity": {
                    "x": 7.967364311218262,
                    "y": 1.2949589490890503,
                    "z": 0.06868493556976318
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.638823986053467,
                "transform": {
                    "location": {
                        "x": 3012.22314453125,
                        "y": 4265.5732421875,
                        "z": 361.4346008300781
                    },
                    "rotation": {
                        "roll": 0.0011096516391262412,
                        "pitch": -0.6999850869178772,
                        "yaw": -170.86697387695312
                    }
                },
                "velocity": {
                    "x": -5.566508769989014,
                    "y": -0.8986558318138123,
                    "z": -0.052282556891441345
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.168582916259766,
                "transform": {
                    "location": {
                        "x": 2990.651611328125,
                        "y": 4265.376953125,
                        "z": 361.2247619628906
                    },
                    "rotation": {
                        "roll": 0.00010582648974377662,
                        "pitch": -0.5709832906723022,
                        "yaw": -170.8024444580078
                    }
                },
                "velocity": {
                    "x": -11.024676322937012,
                    "y": -1.7841476202011108,
                    "z": -0.10278372466564178
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034668922424316,
                "transform": {
                    "location": {
                        "x": 3006.086181640625,
                        "y": 4274.6591796875,
                        "z": 361.38665771484375
                    },
                    "rotation": {
                        "roll": -0.0017700177850201726,
                        "pitch": 0.5389019250869751,
                        "yaw": 9.203547477722168
                    }
                },
                "velocity": {
                    "x": 7.930735111236572,
                    "y": 1.285943627357483,
                    "z": 0.0754423663020134
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.066681861877441,
                "transform": {
                    "location": {
                        "x": 3008.08935546875,
                        "y": 4271.69384765625,
                        "z": 361.4042053222656
                    },
                    "rotation": {
                        "roll": -0.0004272458900231868,
                        "pitch": 0.5393117070198059,
                        "yaw": 9.201961517333984
                    }
                },
                "velocity": {
                    "x": 7.962791442871094,
                    "y": 1.2882229089736938,
                    "z": 0.07605336606502533
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.390793323516846,
                "transform": {
                    "location": {
                        "x": 3040.1865234375,
                        "y": 4280.21728515625,
                        "z": 361.70794677734375
                    },
                    "rotation": {
                        "roll": -0.008544920943677425,
                        "pitch": 0.550957202911377,
                        "yaw": 10.587605476379395
                    }
                },
                "velocity": {
                    "x": 4.279939651489258,
                    "y": 0.9794238805770874,
                    "z": 0.04375264048576355
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.322017669677734,
                "transform": {
                    "location": {
                        "x": 3041.534912109375,
                        "y": 4277.1044921875,
                        "z": 361.7180480957031
                    },
                    "rotation": {
                        "roll": 0.0003290149325039238,
                        "pitch": 0.5520841479301453,
                        "yaw": 9.191683769226074
                    }
                },
                "velocity": {
                    "x": 4.266132354736328,
                    "y": 0.6915082335472107,
                    "z": 0.04205095022916794
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.929043769836426,
                "transform": {
                    "location": {
                        "x": 2966.387939453125,
                        "y": 4261.4501953125,
                        "z": 361.0064697265625
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": 0.0021105282939970493,
                        "yaw": -170.80337524414062
                    }
                },
                "velocity": {
                    "x": -6.839615821838379,
                    "y": -1.1081101894378662,
                    "z": -0.05826200172305107
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03109772503376007,
        "expert_target_speed": 8.74951784895381,
        "target_point": [
            53.269568860247546,
            0.1930228237427336
        ],
        "target_point_next": [
            104.26937993949166,
            0.3515637234304094
        ]
    },
    "235": {
        "acceleration": [
            -1.8659019470214844,
            -0.4808688163757324,
            -0.03259316086769104
        ],
        "angular_velocity": [
            -0.015604086220264435,
            -0.028428278863430023,
            -1.2524210214614868
        ],
        "forward_vector": [
            -0.9869921207427979,
            -0.16067491471767426,
            -0.005482884589582682
        ],
        "right_vector": [
            0.16067372262477875,
            -0.9870073199272156,
            0.0006583233480341733
        ],
        "location": [
            2991.099365234375,
            4262.2841796875,
            361.2259216308594
        ],
        "rotation": [
            -0.0377197191119194,
            -0.3141477108001709,
            -170.7537841796875
        ],
        "velocity": [
            -8.545846939086914,
            -1.4105311632156372,
            -0.07981635630130768
        ],
        "speed": 8.661472049755956,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.52677536010742,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.006026744842529,
                "transform": {
                    "location": {
                        "x": 3034.502685546875,
                        "y": 4272.54296875,
                        "z": 361.6396484375
                    },
                    "rotation": {
                        "roll": -0.008087159134447575,
                        "pitch": -0.5477879643440247,
                        "yaw": -170.07431030273438
                    }
                },
                "velocity": {
                    "x": -6.903240203857422,
                    "y": -1.195602536201477,
                    "z": -0.014882011339068413
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.711366176605225,
                "transform": {
                    "location": {
                        "x": 2922.96142578125,
                        "y": 4261.1103515625,
                        "z": 360.6935119628906
                    },
                    "rotation": {
                        "roll": -0.02151489071547985,
                        "pitch": 0.12079872190952301,
                        "yaw": 9.263108253479004
                    }
                },
                "velocity": {
                    "x": 6.620031356811523,
                    "y": 1.1034611463546753,
                    "z": 0.0010319995926693082
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.067850112915039,
                "transform": {
                    "location": {
                        "x": 2927.89453125,
                        "y": 4258.63427734375,
                        "z": 360.7095947265625
                    },
                    "rotation": {
                        "roll": 0.0018013928784057498,
                        "pitch": 0.41522082686424255,
                        "yaw": 9.722403526306152
                    }
                },
                "velocity": {
                    "x": 7.951951503753662,
                    "y": 1.3615803718566895,
                    "z": 0.05272618308663368
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.2831645011901855,
                "transform": {
                    "location": {
                        "x": 3027.880126953125,
                        "y": 4268.123046875,
                        "z": 361.5753479003906
                    },
                    "rotation": {
                        "roll": -0.001586916041560471,
                        "pitch": -0.5792751312255859,
                        "yaw": -170.61715698242188
                    }
                },
                "velocity": {
                    "x": -6.199625492095947,
                    "y": -1.0193991661071777,
                    "z": -0.060216836631298065
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.263219833374023,
                "transform": {
                    "location": {
                        "x": 3015.832763671875,
                        "y": 4269.44970703125,
                        "z": 361.4613952636719
                    },
                    "rotation": {
                        "roll": 0.001467257272452116,
                        "pitch": -0.5210819244384766,
                        "yaw": -170.79930114746094
                    }
                },
                "velocity": {
                    "x": -12.104641914367676,
                    "y": -1.9623290300369263,
                    "z": -0.11597909778356552
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.018131256103516,
                "transform": {
                    "location": {
                        "x": 2964.559326171875,
                        "y": 4267.93994140625,
                        "z": 361.0067138671875
                    },
                    "rotation": {
                        "roll": 0.0012931156670674682,
                        "pitch": 0.4809272587299347,
                        "yaw": 9.23646068572998
                    }
                },
                "velocity": {
                    "x": 7.914358139038086,
                    "y": 1.2840516567230225,
                    "z": 0.0676654577255249
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.981630325317383,
                "transform": {
                    "location": {
                        "x": 2967.701416015625,
                        "y": 4265.15625,
                        "z": 361.0240783691406
                    },
                    "rotation": {
                        "roll": 0.0022455002181231976,
                        "pitch": 0.4804559648036957,
                        "yaw": 9.2228364944458
                    }
                },
                "velocity": {
                    "x": 7.878172397613525,
                    "y": 1.2791270017623901,
                    "z": 0.06821340322494507
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.747076511383057,
                "transform": {
                    "location": {
                        "x": 3010.6787109375,
                        "y": 4265.32373046875,
                        "z": 361.41607666015625
                    },
                    "rotation": {
                        "roll": -0.0013732911320403218,
                        "pitch": -0.2149392068386078,
                        "yaw": -170.8240509033203
                    }
                },
                "velocity": {
                    "x": -6.660425186157227,
                    "y": -1.0760242938995361,
                    "z": -0.06284797191619873
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.970913887023926,
                "transform": {
                    "location": {
                        "x": 2988.050537109375,
                        "y": 4264.9560546875,
                        "z": 361.20050048828125
                    },
                    "rotation": {
                        "roll": -0.0005493135540746152,
                        "pitch": -0.5681760907173157,
                        "yaw": -170.80950927734375
                    }
                },
                "velocity": {
                    "x": -9.84234619140625,
                    "y": -1.5934028625488281,
                    "z": -0.09171610325574875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03707218170166,
                "transform": {
                    "location": {
                        "x": 3008.0693359375,
                        "y": 4274.97998046875,
                        "z": 361.4053955078125
                    },
                    "rotation": {
                        "roll": 0.0006082705222070217,
                        "pitch": 0.538792610168457,
                        "yaw": 9.200736045837402
                    }
                },
                "velocity": {
                    "x": 7.933304309844971,
                    "y": 1.2850979566574097,
                    "z": 0.07576511055231094
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.066290855407715,
                "transform": {
                    "location": {
                        "x": 3010.079833984375,
                        "y": 4272.01611328125,
                        "z": 361.4230651855469
                    },
                    "rotation": {
                        "roll": 5.528764449991286e-05,
                        "pitch": 0.5413402915000916,
                        "yaw": 9.176726341247559
                    }
                },
                "velocity": {
                    "x": 7.962406635284424,
                    "y": 1.2881606817245483,
                    "z": 0.0760684534907341
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.256559371948242,
                "transform": {
                    "location": {
                        "x": 3041.2412109375,
                        "y": 4280.4521484375,
                        "z": 361.718505859375
                    },
                    "rotation": {
                        "roll": 0.01921815611422062,
                        "pitch": 0.5510528087615967,
                        "yaw": 11.972597122192383
                    }
                },
                "velocity": {
                    "x": 4.139211177825928,
                    "y": 0.991714596748352,
                    "z": 0.04159082472324371
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.17919921875,
                "transform": {
                    "location": {
                        "x": 3042.583251953125,
                        "y": 4277.2744140625,
                        "z": 361.7283935546875
                    },
                    "rotation": {
                        "roll": 0.00023963818966876715,
                        "pitch": 0.5560661554336548,
                        "yaw": 9.19580364227295
                    }
                },
                "velocity": {
                    "x": 4.125317096710205,
                    "y": 0.667698860168457,
                    "z": 0.040524061769247055
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.148825645446777,
                "transform": {
                    "location": {
                        "x": 2964.48583984375,
                        "y": 4261.14208984375,
                        "z": 360.9900207519531
                    },
                    "rotation": {
                        "roll": 0.000319688580930233,
                        "pitch": 0.09002188593149185,
                        "yaw": -170.79811096191406
                    }
                },
                "velocity": {
                    "x": -8.043667793273926,
                    "y": -1.3031117916107178,
                    "z": -0.06830757111310959
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.012933522462844849,
        "expert_target_speed": 9.103509409152508,
        "target_point": [
            51.16281136885288,
            -0.022762745549707475
        ],
        "target_point_next": [
            102.16284561741168,
            -0.07146573615428053
        ]
    },
    "240": {
        "acceleration": [
            -1.7687606811523438,
            -0.4828190803527832,
            -0.03126278519630432
        ],
        "angular_velocity": [
            -0.09371849149465561,
            -0.04212937131524086,
            3.4343035221099854
        ],
        "forward_vector": [
            -0.9860968589782715,
            -0.1660776287317276,
            -0.005593031644821167
        ],
        "right_vector": [
            0.1660744845867157,
            -0.986112654209137,
            0.0010253003565594554
        ],
        "location": [
            2988.9033203125,
            4261.9169921875,
            361.20538330078125
        ],
        "rotation": [
            -0.05874631926417351,
            -0.3204587996006012,
            -170.44000244140625
        ],
        "velocity": [
            -8.99853515625,
            -1.5309600830078125,
            -0.0844244435429573
        ],
        "speed": 9.127840584389634,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.3003044128418,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.221994876861572,
                "transform": {
                    "location": {
                        "x": 3032.90966796875,
                        "y": 4272.26904296875,
                        "z": 361.6277770996094
                    },
                    "rotation": {
                        "roll": -0.005432133562862873,
                        "pitch": -0.5670149326324463,
                        "yaw": -170.12973022460938
                    }
                },
                "velocity": {
                    "x": -6.133024215698242,
                    "y": -1.0466938018798828,
                    "z": -0.0605594702064991
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.8932271003723145,
                "transform": {
                    "location": {
                        "x": 2924.64013671875,
                        "y": 4261.3974609375,
                        "z": 360.69927978515625
                    },
                    "rotation": {
                        "roll": -0.02536010555922985,
                        "pitch": 0.3262576162815094,
                        "yaw": 9.674365043640137
                    }
                },
                "velocity": {
                    "x": 6.791611194610596,
                    "y": 1.1785961389541626,
                    "z": 0.03885743021965027
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00080680847168,
                "transform": {
                    "location": {
                        "x": 2929.8740234375,
                        "y": 4258.97314453125,
                        "z": 360.7244567871094
                    },
                    "rotation": {
                        "roll": 0.0032509861048310995,
                        "pitch": 0.41709232330322266,
                        "yaw": 9.835853576660156
                    }
                },
                "velocity": {
                    "x": 7.884685039520264,
                    "y": 1.356831431388855,
                    "z": 0.06050221249461174
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.949690818786621,
                "transform": {
                    "location": {
                        "x": 3026.399658203125,
                        "y": 4267.87939453125,
                        "z": 361.5607604980469
                    },
                    "rotation": {
                        "roll": -0.0015869110357016325,
                        "pitch": -0.561031699180603,
                        "yaw": -170.6683807373047
                    }
                },
                "velocity": {
                    "x": -5.871074199676514,
                    "y": -0.962319552898407,
                    "z": -0.05697568133473396
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.447815895080566,
                "transform": {
                    "location": {
                        "x": 3012.74609375,
                        "y": 4268.9501953125,
                        "z": 361.4319152832031
                    },
                    "rotation": {
                        "roll": 0.0011587608605623245,
                        "pitch": -0.5325019955635071,
                        "yaw": -170.8067169189453
                    }
                },
                "velocity": {
                    "x": -12.287192344665527,
                    "y": -1.989749550819397,
                    "z": -0.11794468015432358
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025201797485352,
                "transform": {
                    "location": {
                        "x": 2966.53564453125,
                        "y": 4268.26025390625,
                        "z": 361.02362060546875
                    },
                    "rotation": {
                        "roll": 0.0009572081617079675,
                        "pitch": 0.48705393075942993,
                        "yaw": 9.202274322509766
                    }
                },
                "velocity": {
                    "x": 7.921514511108398,
                    "y": 1.2840311527252197,
                    "z": 0.06880433857440948
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.046320915222168,
                "transform": {
                    "location": {
                        "x": 2969.6787109375,
                        "y": 4265.47705078125,
                        "z": 361.04119873046875
                    },
                    "rotation": {
                        "roll": 0.002650965703651309,
                        "pitch": 0.511328399181366,
                        "yaw": 9.20845890045166
                    }
                },
                "velocity": {
                    "x": 7.942346572875977,
                    "y": 1.2875280380249023,
                    "z": 0.06844776123762131
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.967415809631348,
                "transform": {
                    "location": {
                        "x": 3008.857177734375,
                        "y": 4265.02978515625,
                        "z": 361.3988342285156
                    },
                    "rotation": {
                        "roll": -0.0033569326624274254,
                        "pitch": -0.22085414826869965,
                        "yaw": -170.79762268066406
                    }
                },
                "velocity": {
                    "x": -7.864757061004639,
                    "y": -1.2727268934249878,
                    "z": -0.07398208230733871
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.171785354614258,
                "transform": {
                    "location": {
                        "x": 2985.765625,
                        "y": 4264.58447265625,
                        "z": 361.1792907714844
                    },
                    "rotation": {
                        "roll": 0.0006491250824183226,
                        "pitch": -0.5837079286575317,
                        "yaw": -171.00265502929688
                    }
                },
                "velocity": {
                    "x": -8.066436767578125,
                    "y": -1.3057751655578613,
                    "z": -0.07493817806243896
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03512954711914,
                "transform": {
                    "location": {
                        "x": 3010.052490234375,
                        "y": 4275.3017578125,
                        "z": 361.4242248535156
                    },
                    "rotation": {
                        "roll": -0.00030517784762196243,
                        "pitch": 0.5449739098548889,
                        "yaw": 9.20442008972168
                    }
                },
                "velocity": {
                    "x": 7.931324481964111,
                    "y": 1.2851483821868896,
                    "z": 0.07610393315553665
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.066140174865723,
                "transform": {
                    "location": {
                        "x": 3012.070556640625,
                        "y": 4272.337890625,
                        "z": 361.4420166015625
                    },
                    "rotation": {
                        "roll": 0.00029569939943030477,
                        "pitch": 0.5498096942901611,
                        "yaw": 9.2037992477417
                    }
                },
                "velocity": {
                    "x": 7.962248802185059,
                    "y": 1.2881962060928345,
                    "z": 0.07593898475170135
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.105560302734375,
                "transform": {
                    "location": {
                        "x": 3042.257080078125,
                        "y": 4280.68994140625,
                        "z": 361.7286682128906
                    },
                    "rotation": {
                        "roll": 0.03250368312001228,
                        "pitch": 0.5542493462562561,
                        "yaw": 12.828912734985352
                    }
                },
                "velocity": {
                    "x": 3.987510919570923,
                    "y": 0.9765980839729309,
                    "z": 0.040495507419109344
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.0893025398254395,
                "transform": {
                    "location": {
                        "x": 3043.59814453125,
                        "y": 4277.4384765625,
                        "z": 361.7384033203125
                    },
                    "rotation": {
                        "roll": 0.0007411009864881635,
                        "pitch": 0.5607106685638428,
                        "yaw": 9.192429542541504
                    }
                },
                "velocity": {
                    "x": 4.0365495681762695,
                    "y": 0.6534628868103027,
                    "z": 0.040650930255651474
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.680742263793945,
                "transform": {
                    "location": {
                        "x": 2962.304931640625,
                        "y": 4260.78857421875,
                        "z": 360.971435546875
                    },
                    "rotation": {
                        "roll": 0.00036822963738813996,
                        "pitch": 0.15868577361106873,
                        "yaw": -170.79930114746094
                    }
                },
                "velocity": {
                    "x": -9.55610179901123,
                    "y": -1.5463684797286987,
                    "z": -0.08020757138729095
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.009027461521327496,
        "expert_target_speed": 9.428010291095305,
        "target_point": [
            48.93539011057358,
            -0.3003211009852951
        ],
        "target_point_next": [
            99.93439285088124,
            -0.628322365551508
        ]
    },
    "245": {
        "acceleration": [
            -1.2641525268554688,
            -0.18984556198120117,
            -0.008258521556854248
        ],
        "angular_velocity": [
            0.28476524353027344,
            -0.11966048181056976,
            -1.9107636213302612
        ],
        "forward_vector": [
            -0.9855396747589111,
            -0.16934102773666382,
            -0.005928719881922007
        ],
        "right_vector": [
            0.16933949291706085,
            -0.985557496547699,
            0.0007659117109142244
        ],
        "location": [
            2986.599853515625,
            4261.5224609375,
            361.18389892578125
        ],
        "rotation": [
            -0.0438842810690403,
            -0.339692622423172,
            -170.2503204345703
        ],
        "velocity": [
            -9.38788890838623,
            -1.6156394481658936,
            -0.08804872632026672
        ],
        "speed": 9.525898854316637,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.963279724121094,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.785595893859863,
                "transform": {
                    "location": {
                        "x": 3031.32373046875,
                        "y": 4271.99853515625,
                        "z": 361.6116027832031
                    },
                    "rotation": {
                        "roll": -0.0044555640779435635,
                        "pitch": -0.5386696457862854,
                        "yaw": -170.29409790039062
                    }
                },
                "velocity": {
                    "x": -6.690074920654297,
                    "y": -1.132664680480957,
                    "z": -0.0654297024011612
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.654644966125488,
                "transform": {
                    "location": {
                        "x": 2926.30810546875,
                        "y": 4261.68701171875,
                        "z": 360.7102966308594
                    },
                    "rotation": {
                        "roll": 0.008195346221327782,
                        "pitch": 0.3902769982814789,
                        "yaw": 9.804056167602539
                    }
                },
                "velocity": {
                    "x": 6.5587687492370605,
                    "y": 1.1246157884597778,
                    "z": 0.04573248699307442
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000219345092773,
                "transform": {
                    "location": {
                        "x": 2931.84521484375,
                        "y": 4259.3125,
                        "z": 360.7392578125
                    },
                    "rotation": {
                        "roll": 0.006138186901807785,
                        "pitch": 0.4202888309955597,
                        "yaw": 9.803664207458496
                    }
                },
                "velocity": {
                    "x": 7.886618614196777,
                    "y": 1.3420677185058594,
                    "z": 0.06006847321987152
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.446755409240723,
                "transform": {
                    "location": {
                        "x": 3024.849853515625,
                        "y": 4267.62548828125,
                        "z": 361.5455322265625
                    },
                    "rotation": {
                        "roll": -0.0012512209359556437,
                        "pitch": -0.5406162738800049,
                        "yaw": -170.69679260253906
                    }
                },
                "velocity": {
                    "x": -6.36223030090332,
                    "y": -1.0387482643127441,
                    "z": -0.06066569313406944
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.3106107711792,
                "transform": {
                    "location": {
                        "x": 3009.813720703125,
                        "y": 4268.4755859375,
                        "z": 361.4043273925781
                    },
                    "rotation": {
                        "roll": 9.912262612488121e-05,
                        "pitch": -0.5664002299308777,
                        "yaw": -170.81063842773438
                    }
                },
                "velocity": {
                    "x": -11.16488265991211,
                    "y": -1.8066717386245728,
                    "z": -0.10603255778551102
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.052061080932617,
                "transform": {
                    "location": {
                        "x": 2968.521484375,
                        "y": 4268.58251953125,
                        "z": 361.040771484375
                    },
                    "rotation": {
                        "roll": 0.00028648527222685516,
                        "pitch": 0.4996761083602905,
                        "yaw": 9.217158317565918
                    }
                },
                "velocity": {
                    "x": 7.948105812072754,
                    "y": 1.2879066467285156,
                    "z": 0.0678381696343422
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018360137939453,
                "transform": {
                    "location": {
                        "x": 2971.662841796875,
                        "y": 4265.798828125,
                        "z": 361.05853271484375
                    },
                    "rotation": {
                        "roll": 0.0014055570354685187,
                        "pitch": 0.5093271732330322,
                        "yaw": 9.202957153320312
                    }
                },
                "velocity": {
                    "x": 7.91486930847168,
                    "y": 1.282287359237671,
                    "z": 0.06837745755910873
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.192234992980957,
                "transform": {
                    "location": {
                        "x": 3006.73486328125,
                        "y": 4264.68603515625,
                        "z": 361.3791198730469
                    },
                    "rotation": {
                        "roll": 0.001440814696252346,
                        "pitch": -0.2614459693431854,
                        "yaw": -170.83802795410156
                    }
                },
                "velocity": {
                    "x": -9.074069023132324,
                    "y": -1.4667061567306519,
                    "z": -0.08506271988153458
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.5730462074279785,
                "transform": {
                    "location": {
                        "x": 2983.87109375,
                        "y": 4264.2763671875,
                        "z": 361.16143798828125
                    },
                    "rotation": {
                        "roll": 0.0039263153448700905,
                        "pitch": -0.5553558468818665,
                        "yaw": -171.248779296875
                    }
                },
                "velocity": {
                    "x": -7.476512432098389,
                    "y": -1.2033761739730835,
                    "z": -0.06838499009609222
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037006378173828,
                "transform": {
                    "location": {
                        "x": 3012.03515625,
                        "y": 4275.62353515625,
                        "z": 361.4432067871094
                    },
                    "rotation": {
                        "roll": 8.43707166495733e-05,
                        "pitch": 0.5493725538253784,
                        "yaw": 9.20450496673584
                    }
                },
                "velocity": {
                    "x": 7.933168888092041,
                    "y": 1.2854866981506348,
                    "z": 0.07631763070821762
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.066678047180176,
                "transform": {
                    "location": {
                        "x": 3014.061279296875,
                        "y": 4272.66064453125,
                        "z": 361.4611511230469
                    },
                    "rotation": {
                        "roll": -0.00018310287850908935,
                        "pitch": 0.5506429672241211,
                        "yaw": 9.17510986328125
                    }
                },
                "velocity": {
                    "x": 7.962953090667725,
                    "y": 1.2871757745742798,
                    "z": 0.07651031017303467
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.155160427093506,
                "transform": {
                    "location": {
                        "x": 3043.244384765625,
                        "y": 4280.94091796875,
                        "z": 361.7386169433594
                    },
                    "rotation": {
                        "roll": 0.024701585993170738,
                        "pitch": 0.5620289444923401,
                        "yaw": 13.846879959106445
                    }
                },
                "velocity": {
                    "x": 3.9862186908721924,
                    "y": 1.1720513105392456,
                    "z": 0.0414297953248024
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.598536491394043,
                "transform": {
                    "location": {
                        "x": 3044.66650390625,
                        "y": 4277.611328125,
                        "z": 361.75616455078125
                    },
                    "rotation": {
                        "roll": -0.043823253363370895,
                        "pitch": 0.9318767786026001,
                        "yaw": 9.192474365234375
                    }
                },
                "velocity": {
                    "x": 4.538113594055176,
                    "y": 0.730479896068573,
                    "z": 0.1358708143234253
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.753984451293945,
                "transform": {
                    "location": {
                        "x": 2959.772216796875,
                        "y": 4260.37890625,
                        "z": 360.95074462890625
                    },
                    "rotation": {
                        "roll": 0.0007428168901242316,
                        "pitch": 0.0915040373802185,
                        "yaw": -170.810302734375
                    }
                },
                "velocity": {
                    "x": -10.615607261657715,
                    "y": -1.7174055576324463,
                    "z": -0.08714813739061356
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0304130706936121,
        "expert_target_speed": 9.692856230576318,
        "target_point": [
            46.59711854777717,
            -0.46106089225128066
        ],
        "target_point_next": [
            97.59475612992269,
            -0.9578771315222312
        ]
    },
    "250": {
        "acceleration": [
            0.2609062194824219,
            0.2251291275024414,
            0.0008471310138702393
        ],
        "angular_velocity": [
            0.20986972749233246,
            -0.4524906277656555,
            1.1057631969451904
        ],
        "forward_vector": [
            -0.9859405755996704,
            -0.16693522036075592,
            -0.007332139648497105
        ],
        "right_vector": [
            0.16694167256355286,
            -0.985966682434082,
            -0.00027472455985844135
        ],
        "location": [
            2984.232177734375,
            4261.1201171875,
            361.16217041015625
        ],
        "rotation": [
            0.015740981325507164,
            -0.42010441422462463,
            -170.3900604248047
        ],
        "velocity": [
            -9.491202354431152,
            -1.5900864601135254,
            -0.08765958249568939
        ],
        "speed": 9.623476351267032,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.561683654785156,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.57318115234375,
                "transform": {
                    "location": {
                        "x": 3029.53076171875,
                        "y": 4271.6943359375,
                        "z": 361.59393310546875
                    },
                    "rotation": {
                        "roll": -0.0020751922857016325,
                        "pitch": -0.5201666951179504,
                        "yaw": -170.4261016845703
                    }
                },
                "velocity": {
                    "x": -7.468578338623047,
                    "y": -1.252280592918396,
                    "z": -0.07209552824497223
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.565575122833252,
                "transform": {
                    "location": {
                        "x": 2927.7548828125,
                        "y": 4261.93310546875,
                        "z": 360.72064208984375
                    },
                    "rotation": {
                        "roll": 0.008642286993563175,
                        "pitch": 0.2621972858905792,
                        "yaw": 9.699761390686035
                    }
                },
                "velocity": {
                    "x": 5.486891746520996,
                    "y": 0.9316303730010986,
                    "z": 0.041370637714862823
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.932745933532715,
                "transform": {
                    "location": {
                        "x": 2933.808349609375,
                        "y": 4259.6455078125,
                        "z": 360.75390625
                    },
                    "rotation": {
                        "roll": 0.004881361965090036,
                        "pitch": 0.42056888341903687,
                        "yaw": 9.595666885375977
                    }
                },
                "velocity": {
                    "x": 7.823205471038818,
                    "y": 1.312355637550354,
                    "z": 0.060269229114055634
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.63596248626709,
                "transform": {
                    "location": {
                        "x": 3023.0927734375,
                        "y": 4267.3388671875,
                        "z": 361.5284423828125
                    },
                    "rotation": {
                        "roll": -0.0003662108210846782,
                        "pitch": -0.5242853164672852,
                        "yaw": -170.7367401123047
                    }
                },
                "velocity": {
                    "x": -7.536435604095459,
                    "y": -1.2266706228256226,
                    "z": -0.07306914776563644
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.79431438446045,
                "transform": {
                    "location": {
                        "x": 3007.1220703125,
                        "y": 4268.0400390625,
                        "z": 361.3788146972656
                    },
                    "rotation": {
                        "roll": 1.5225232345983386e-05,
                        "pitch": -0.5550484657287598,
                        "yaw": -170.8138885498047
                    }
                },
                "velocity": {
                    "x": -10.655384063720703,
                    "y": -1.723376750946045,
                    "z": -0.09997378289699554
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023355484008789,
                "transform": {
                    "location": {
                        "x": 2970.504638671875,
                        "y": 4268.90380859375,
                        "z": 361.0580139160156
                    },
                    "rotation": {
                        "roll": 0.00017004409164655954,
                        "pitch": 0.4975450932979584,
                        "yaw": 9.187874794006348
                    }
                },
                "velocity": {
                    "x": 7.9198126792907715,
                    "y": 1.2829831838607788,
                    "z": 0.06888929009437561
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.021388053894043,
                "transform": {
                    "location": {
                        "x": 2973.640625,
                        "y": 4266.119140625,
                        "z": 361.0759582519531
                    },
                    "rotation": {
                        "roll": 0.0003194772289134562,
                        "pitch": 0.506629228591919,
                        "yaw": 9.202634811401367
                    }
                },
                "velocity": {
                    "x": 7.917844772338867,
                    "y": 1.2827938795089722,
                    "z": 0.06954854726791382
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.947065353393555,
                "transform": {
                    "location": {
                        "x": 3004.3330078125,
                        "y": 4264.2978515625,
                        "z": 361.35693359375
                    },
                    "rotation": {
                        "roll": 0.0004943226813338697,
                        "pitch": -0.32061588764190674,
                        "yaw": -170.82861328125
                    }
                },
                "velocity": {
                    "x": -9.819235801696777,
                    "y": -1.586932897567749,
                    "z": -0.09145919233560562
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.27160930633545,
                "transform": {
                    "location": {
                        "x": 2981.92626953125,
                        "y": 4263.96533203125,
                        "z": 361.1430358886719
                    },
                    "rotation": {
                        "roll": 0.0021890143398195505,
                        "pitch": -0.5067453384399414,
                        "yaw": -171.05291748046875
                    }
                },
                "velocity": {
                    "x": -8.166406631469727,
                    "y": -1.312909722328186,
                    "z": -0.07470910251140594
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035825729370117,
                "transform": {
                    "location": {
                        "x": 3014.018310546875,
                        "y": 4275.9453125,
                        "z": 361.4622497558594
                    },
                    "rotation": {
                        "roll": -9.155474981525913e-05,
                        "pitch": 0.5492154955863953,
                        "yaw": 9.20435905456543
                    }
                },
                "velocity": {
                    "x": 7.931993007659912,
                    "y": 1.2853503227233887,
                    "z": 0.07657133042812347
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.02493953704834,
                "transform": {
                    "location": {
                        "x": 3016.049560546875,
                        "y": 4272.982421875,
                        "z": 361.4803161621094
                    },
                    "rotation": {
                        "roll": -0.0003051777894143015,
                        "pitch": 0.5442294478416443,
                        "yaw": 9.200082778930664
                    }
                },
                "velocity": {
                    "x": 7.9216437339782715,
                    "y": 1.2811696529388428,
                    "z": 0.07624457776546478
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.909397125244141,
                "transform": {
                    "location": {
                        "x": 3044.326904296875,
                        "y": 4281.27099609375,
                        "z": 361.7633361816406
                    },
                    "rotation": {
                        "roll": 0.11926422268152237,
                        "pitch": 1.209974765777588,
                        "yaw": 16.09360122680664
                    }
                },
                "velocity": {
                    "x": 4.618700981140137,
                    "y": 1.654022455215454,
                    "z": 0.1843629628419876
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.17645263671875,
                "transform": {
                    "location": {
                        "x": 3045.892333984375,
                        "y": 4277.80908203125,
                        "z": 361.7792053222656
                    },
                    "rotation": {
                        "roll": -0.814483642578125,
                        "pitch": 1.3363605737686157,
                        "yaw": 9.160696029663086
                    }
                },
                "velocity": {
                    "x": 5.112972259521484,
                    "y": 0.806225061416626,
                    "z": 0.05637046694755554
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.758684158325195,
                "transform": {
                    "location": {
                        "x": 2956.989990234375,
                        "y": 4259.92919921875,
                        "z": 360.92822265625
                    },
                    "rotation": {
                        "roll": 0.0006688247667625546,
                        "pitch": 0.0357765294611454,
                        "yaw": -170.8099822998047
                    }
                },
                "velocity": {
                    "x": -11.607391357421875,
                    "y": -1.877848505973816,
                    "z": -0.09380920231342316
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03184645622968674,
        "expert_target_speed": 9.755903556927457,
        "target_point": [
            44.19648673361979,
            -0.34886881687940097
        ],
        "target_point_next": [
            95.19518419471076,
            -0.7213236565258843
        ]
    },
    "255": {
        "acceleration": [
            2.1417808532714844,
            0.5667304992675781,
            0.03835156559944153
        ],
        "angular_velocity": [
            0.21747392416000366,
            -0.7108245491981506,
            -3.6209092140197754
        ],
        "forward_vector": [
            -0.986870527267456,
            -0.16118991374969482,
            -0.010215699672698975
        ],
        "right_vector": [
            0.16120800375938416,
            -0.9869199395179749,
            -0.0009681155788712204
        ],
        "location": [
            2981.8994140625,
            4260.7353515625,
            361.1412353515625
        ],
        "rotation": [
            0.055471837520599365,
            -0.5853266716003418,
            -170.72354125976562
        ],
        "velocity": [
            -9.121527671813965,
            -1.475411295890808,
            -0.08388309925794601
        ],
        "speed": 9.240081469322122,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.19758605957031,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.07893180847168,
                "transform": {
                    "location": {
                        "x": 3027.484619140625,
                        "y": 4271.3525390625,
                        "z": 361.5738830566406
                    },
                    "rotation": {
                        "roll": -0.00012206428800709546,
                        "pitch": -0.501281201839447,
                        "yaw": -170.58302307128906
                    }
                },
                "velocity": {
                    "x": -8.957083702087402,
                    "y": -1.4799320697784424,
                    "z": -0.08634640276432037
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.7567458152771,
                "transform": {
                    "location": {
                        "x": 2929.155029296875,
                        "y": 4262.1708984375,
                        "z": 360.7310791015625
                    },
                    "rotation": {
                        "roll": 0.005965193267911673,
                        "pitch": 0.4117306172847748,
                        "yaw": 9.636890411376953
                    }
                },
                "velocity": {
                    "x": 5.675880432128906,
                    "y": 0.9606316089630127,
                    "z": 0.04111257568001747
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.914504051208496,
                "transform": {
                    "location": {
                        "x": 2935.662841796875,
                        "y": 4259.95654296875,
                        "z": 360.76812744140625
                    },
                    "rotation": {
                        "roll": 0.003506633685901761,
                        "pitch": 0.3920869827270508,
                        "yaw": 9.43432903289795
                    }
                },
                "velocity": {
                    "x": 6.820728778839111,
                    "y": 1.1337850093841553,
                    "z": 0.05054999142885208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.531781196594238,
                "transform": {
                    "location": {
                        "x": 3021.0908203125,
                        "y": 4267.01318359375,
                        "z": 361.5090026855469
                    },
                    "rotation": {
                        "roll": -0.0009155275183729827,
                        "pitch": -0.5272837281227112,
                        "yaw": -170.75563049316406
                    }
                },
                "velocity": {
                    "x": -8.420587539672852,
                    "y": -1.370564341545105,
                    "z": -0.08097472041845322
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.1902494430542,
                "transform": {
                    "location": {
                        "x": 3004.411376953125,
                        "y": 4267.6015625,
                        "z": 361.3529357910156
                    },
                    "rotation": {
                        "roll": 0.0009323331760242581,
                        "pitch": -0.524749755859375,
                        "yaw": -170.81768798828125
                    }
                },
                "velocity": {
                    "x": -11.046346664428711,
                    "y": -1.7858277559280396,
                    "z": -0.1036117896437645
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03743839263916,
                "transform": {
                    "location": {
                        "x": 2972.48583984375,
                        "y": 4269.22412109375,
                        "z": 361.0754089355469
                    },
                    "rotation": {
                        "roll": -0.00021362511324696243,
                        "pitch": 0.5046212077140808,
                        "yaw": 9.208953857421875
                    }
                },
                "velocity": {
                    "x": 7.933839321136475,
                    "y": 1.284434199333191,
                    "z": 0.06961696594953537
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024626731872559,
                "transform": {
                    "location": {
                        "x": 2975.62109375,
                        "y": 4266.439453125,
                        "z": 361.093505859375
                    },
                    "rotation": {
                        "roll": 0.001432662014849484,
                        "pitch": 0.5240120887756348,
                        "yaw": 9.193662643432617
                    }
                },
                "velocity": {
                    "x": 7.92141580581665,
                    "y": 1.2809563875198364,
                    "z": 0.07035154104232788
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.585363388061523,
                "transform": {
                    "location": {
                        "x": 3001.935302734375,
                        "y": 4263.91064453125,
                        "z": 361.33685302734375
                    },
                    "rotation": {
                        "roll": -0.0004577557847369462,
                        "pitch": -0.6153863668441772,
                        "yaw": -170.83450317382812
                    }
                },
                "velocity": {
                    "x": -9.462230682373047,
                    "y": -1.528883457183838,
                    "z": -0.08886134624481201
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.440792083740234,
                "transform": {
                    "location": {
                        "x": 2979.787353515625,
                        "y": 4263.62255859375,
                        "z": 361.1231994628906
                    },
                    "rotation": {
                        "roll": 2.1478488633874804e-05,
                        "pitch": -0.4775941073894501,
                        "yaw": -170.81149291992188
                    }
                },
                "velocity": {
                    "x": -9.31960391998291,
                    "y": -1.5054453611373901,
                    "z": -0.08474145829677582
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.901692867279053,
                "transform": {
                    "location": {
                        "x": 3015.9921875,
                        "y": 4276.2646484375,
                        "z": 361.4811706542969
                    },
                    "rotation": {
                        "roll": 0.0010328431380912662,
                        "pitch": 0.5277140736579895,
                        "yaw": 9.198261260986328
                    }
                },
                "velocity": {
                    "x": 7.7998552322387695,
                    "y": 1.262230634689331,
                    "z": 0.07601030170917511
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.731744289398193,
                "transform": {
                    "location": {
                        "x": 3017.99609375,
                        "y": 4273.29736328125,
                        "z": 361.49932861328125
                    },
                    "rotation": {
                        "roll": -0.0007019013282842934,
                        "pitch": 0.4937202036380768,
                        "yaw": 9.173066139221191
                    }
                },
                "velocity": {
                    "x": 7.632237434387207,
                    "y": 1.23416268825531,
                    "z": 0.07526439428329468
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.240214824676514,
                "transform": {
                    "location": {
                        "x": 3045.536376953125,
                        "y": 4281.728515625,
                        "z": 361.8028869628906
                    },
                    "rotation": {
                        "roll": -0.0514526329934597,
                        "pitch": 2.3498034477233887,
                        "yaw": 20.11865997314453
                    }
                },
                "velocity": {
                    "x": 4.758059501647949,
                    "y": 2.1835665702819824,
                    "z": 0.2296900749206543
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.88765811920166,
                "transform": {
                    "location": {
                        "x": 3047.241455078125,
                        "y": 4278.02294921875,
                        "z": 361.79296875
                    },
                    "rotation": {
                        "roll": -0.3621215224266052,
                        "pitch": 1.1038267612457275,
                        "yaw": 9.0985746383667
                    }
                },
                "velocity": {
                    "x": 5.811534881591797,
                    "y": 0.9368299841880798,
                    "z": 0.11370233446359634
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.756145477294922,
                "transform": {
                    "location": {
                        "x": 2953.959228515625,
                        "y": 4259.4384765625,
                        "z": 360.904052734375
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 0.012055283412337303,
                        "yaw": -170.8092803955078
                    }
                },
                "velocity": {
                    "x": -12.59201431274414,
                    "y": -2.037256956100464,
                    "z": -0.09995842725038528
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.020647693425416946,
        "expert_target_speed": 9.50328970716598,
        "target_point": [
            41.833489249751395,
            -0.09530460593201884
        ],
        "target_point_next": [
            92.83349072087374,
            -0.1709040833245492
        ]
    },
    "260": {
        "acceleration": [
            1.8135261535644531,
            0.48714160919189453,
            0.030237436294555664
        ],
        "angular_velocity": [
            0.04842115566134453,
            -0.15759365260601044,
            1.2472565174102783
        ],
        "forward_vector": [
            -0.9876794219017029,
            -0.15600724518299103,
            -0.0122938621789217
        ],
        "right_vector": [
            0.1560339778661728,
            -0.9877508878707886,
            -0.0012405242305248976
        ],
        "location": [
            2979.693115234375,
            4260.38427734375,
            361.1215515136719
        ],
        "rotation": [
            0.07108218967914581,
            -0.7044041752815247,
            -171.0240936279297
        ],
        "velocity": [
            -8.586196899414062,
            -1.3373266458511353,
            -0.07801451534032822
        ],
        "speed": 8.689719198754993,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.9639778137207,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.851470947265625,
                "transform": {
                    "location": {
                        "x": 3025.14013671875,
                        "y": 4270.96533203125,
                        "z": 361.55126953125
                    },
                    "rotation": {
                        "roll": 8.411347153014503e-06,
                        "pitch": -0.5179673433303833,
                        "yaw": -170.72796630859375
                    }
                },
                "velocity": {
                    "x": -9.721051216125488,
                    "y": -1.5949058532714844,
                    "z": -0.09443272650241852
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.085223197937012,
                "transform": {
                    "location": {
                        "x": 2930.8828125,
                        "y": 4262.4619140625,
                        "z": 360.7439880371094
                    },
                    "rotation": {
                        "roll": 0.01349828951060772,
                        "pitch": 0.7744614481925964,
                        "yaw": 9.576862335205078
                    }
                },
                "velocity": {
                    "x": 7.97442102432251,
                    "y": 1.3326510190963745,
                    "z": 0.05904371291399002
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.87494421005249,
                "transform": {
                    "location": {
                        "x": 2937.337158203125,
                        "y": 4260.234375,
                        "z": 360.7804260253906
                    },
                    "rotation": {
                        "roll": 0.00292302668094635,
                        "pitch": 0.4135611057281494,
                        "yaw": 9.336352348327637
                    }
                },
                "velocity": {
                    "x": 6.784006118774414,
                    "y": 1.113416314125061,
                    "z": 0.049225177615880966
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.310470581054688,
                "transform": {
                    "location": {
                        "x": 3018.885498046875,
                        "y": 4266.654296875,
                        "z": 361.48773193359375
                    },
                    "rotation": {
                        "roll": -3.0517012419295497e-05,
                        "pitch": -0.5238345265388489,
                        "yaw": -170.76596069335938
                    }
                },
                "velocity": {
                    "x": -9.189570426940918,
                    "y": -1.4929453134536743,
                    "z": -0.08817499130964279
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.473405838012695,
                "transform": {
                    "location": {
                        "x": 3001.725341796875,
                        "y": 4267.16748046875,
                        "z": 361.3279724121094
                    },
                    "rotation": {
                        "roll": 1.5408650142489932e-05,
                        "pitch": -0.5482114553451538,
                        "yaw": -170.8228302001953
                    }
                },
                "velocity": {
                    "x": -10.338849067687988,
                    "y": -1.6706112623214722,
                    "z": -0.09737714380025864
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038026809692383,
                "transform": {
                    "location": {
                        "x": 2974.47021484375,
                        "y": 4269.54443359375,
                        "z": 361.0929870605469
                    },
                    "rotation": {
                        "roll": 0.0012403526343405247,
                        "pitch": 0.5133091807365417,
                        "yaw": 9.17664623260498
                    }
                },
                "velocity": {
                    "x": 7.934682846069336,
                    "y": 1.2828562259674072,
                    "z": 0.07045023143291473
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02798080444336,
                "transform": {
                    "location": {
                        "x": 2977.60205078125,
                        "y": 4266.759765625,
                        "z": 361.111328125
                    },
                    "rotation": {
                        "roll": -0.0008850094745866954,
                        "pitch": 0.5204603672027588,
                        "yaw": 9.19134521484375
                    }
                },
                "velocity": {
                    "x": 7.924595355987549,
                    "y": 1.2822331190109253,
                    "z": 0.07171237468719482
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.672127723693848,
                "transform": {
                    "location": {
                        "x": 2999.53955078125,
                        "y": 4263.5234375,
                        "z": 361.31378173828125
                    },
                    "rotation": {
                        "roll": -0.0009460467263124883,
                        "pitch": -0.5409236550331116,
                        "yaw": -170.79737854003906
                    }
                },
                "velocity": {
                    "x": -9.547609329223633,
                    "y": -1.5444763898849487,
                    "z": -0.08829059451818466
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.365986824035645,
                "transform": {
                    "location": {
                        "x": 2977.326416015625,
                        "y": 4263.224609375,
                        "z": 361.1009216308594
                    },
                    "rotation": {
                        "roll": -0.000701902259606868,
                        "pitch": -0.47036096453666687,
                        "yaw": -170.73538208007812
                    }
                },
                "velocity": {
                    "x": -10.231708526611328,
                    "y": -1.6605137586593628,
                    "z": -0.09230409562587738
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.509929180145264,
                "transform": {
                    "location": {
                        "x": 3017.890869140625,
                        "y": 4276.57177734375,
                        "z": 361.49951171875
                    },
                    "rotation": {
                        "roll": 0.00011168490891577676,
                        "pitch": 0.48428770899772644,
                        "yaw": 9.191761016845703
                    }
                },
                "velocity": {
                    "x": 7.412964820861816,
                    "y": 1.2007781267166138,
                    "z": 0.07153886556625366
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.380771160125732,
                "transform": {
                    "location": {
                        "x": 3019.857666015625,
                        "y": 4273.59814453125,
                        "z": 361.5177001953125
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": 0.4659896194934845,
                        "yaw": 9.200601577758789
                    }
                },
                "velocity": {
                    "x": 7.285733699798584,
                    "y": 1.1784594058990479,
                    "z": 0.07142455875873566
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.140936374664307,
                "transform": {
                    "location": {
                        "x": 3046.833740234375,
                        "y": 4282.35595703125,
                        "z": 361.82720947265625
                    },
                    "rotation": {
                        "roll": 0.0016296310350298882,
                        "pitch": 2.0383126735687256,
                        "yaw": 25.892194747924805
                    }
                },
                "velocity": {
                    "x": 5.219601154327393,
                    "y": 3.232722759246826,
                    "z": 0.12792320549488068
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3048.838623046875,
                        "y": 4278.2724609375,
                        "z": 361.8246765136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5927579402923584,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.53770923614502,
                "transform": {
                    "location": {
                        "x": 2950.697021484375,
                        "y": 4258.91064453125,
                        "z": 360.8785095214844
                    },
                    "rotation": {
                        "roll": 0.000768802419770509,
                        "pitch": -0.03271660581231117,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -13.363505363464355,
                    "y": -2.1623048782348633,
                    "z": -0.10349132120609283
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.005521920043975115,
        "expert_target_speed": 9.122710703381625,
        "target_point": [
            39.599358814167054,
            0.1215709388223809
        ],
        "target_point_next": [
            90.59905525862337,
            0.3134769282398171
        ]
    },
    "265": {
        "acceleration": [
            0.4809379577636719,
            0.25660276412963867,
            0.0017018616199493408
        ],
        "angular_velocity": [
            -0.07220510393381119,
            0.3433459997177124,
            -3.8199970722198486
        ],
        "forward_vector": [
            -0.9885833263397217,
            -0.1502263993024826,
            -0.011622286401689053
        ],
        "right_vector": [
            0.15025125443935394,
            -0.9886469841003418,
            -0.001290507148951292
        ],
        "location": [
            2977.585205078125,
            4260.06103515625,
            361.1024169921875
        ],
        "rotation": [
            0.07394562661647797,
            -0.6659229397773743,
            -171.35935974121094
        ],
        "velocity": [
            -8.340538024902344,
            -1.2514387369155884,
            -0.0756925716996193
        ],
        "speed": 8.433900251787115,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.832218170166016,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2898.096923828125,
                        "y": 4253.79345703125,
                        "z": 360.8896789550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.39230555295944214,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.488139152526855,
                "transform": {
                    "location": {
                        "x": 3022.6240234375,
                        "y": 4270.5537109375,
                        "z": 361.52691650390625
                    },
                    "rotation": {
                        "roll": 0.0010866194497793913,
                        "pitch": -0.5263957977294922,
                        "yaw": -170.77041625976562
                    }
                },
                "velocity": {
                    "x": -10.35106086730957,
                    "y": -1.6871601343154907,
                    "z": -0.10043283551931381
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.221246719360352,
                "transform": {
                    "location": {
                        "x": 2932.948486328125,
                        "y": 4262.80517578125,
                        "z": 360.75921630859375
                    },
                    "rotation": {
                        "roll": 0.01391266193240881,
                        "pitch": 0.533909022808075,
                        "yaw": 9.385717391967773
                    }
                },
                "velocity": {
                    "x": 8.11091136932373,
                    "y": 1.3410627841949463,
                    "z": 0.05979083850979805
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.744002342224121,
                "transform": {
                    "location": {
                        "x": 2939.140869140625,
                        "y": 4260.5302734375,
                        "z": 360.79351806640625
                    },
                    "rotation": {
                        "roll": 0.0009706333512440324,
                        "pitch": 0.44642797112464905,
                        "yaw": 9.266562461853027
                    }
                },
                "velocity": {
                    "x": 7.642667293548584,
                    "y": 1.2473922967910767,
                    "z": 0.05678386613726616
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.312073707580566,
                "transform": {
                    "location": {
                        "x": 3016.552001953125,
                        "y": 4266.275390625,
                        "z": 361.4654541015625
                    },
                    "rotation": {
                        "roll": -0.00045775645412504673,
                        "pitch": -0.5411353707313538,
                        "yaw": -170.78384399414062
                    }
                },
                "velocity": {
                    "x": -9.191452026367188,
                    "y": -1.4913749694824219,
                    "z": -0.08792756497859955
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.500078201293945,
                "transform": {
                    "location": {
                        "x": 2999.15673828125,
                        "y": 4266.75244140625,
                        "z": 361.3037414550781
                    },
                    "rotation": {
                        "roll": 0.0006900856969878078,
                        "pitch": -0.5328981876373291,
                        "yaw": -170.82057189941406
                    }
                },
                "velocity": {
                    "x": -10.365026473999023,
                    "y": -1.6759209632873535,
                    "z": -0.09568081796169281
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0308837890625,
                "transform": {
                    "location": {
                        "x": 2976.452392578125,
                        "y": 4269.86474609375,
                        "z": 361.1108093261719
                    },
                    "rotation": {
                        "roll": -0.0010986339766532183,
                        "pitch": 0.5136028528213501,
                        "yaw": 9.20291519165039
                    }
                },
                "velocity": {
                    "x": 7.927347660064697,
                    "y": 1.2834429740905762,
                    "z": 0.07092979550361633
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01534652709961,
                "transform": {
                    "location": {
                        "x": 2979.58154296875,
                        "y": 4267.080078125,
                        "z": 361.12939453125
                    },
                    "rotation": {
                        "roll": -0.0011596707627177238,
                        "pitch": 0.528922975063324,
                        "yaw": 9.191564559936523
                    }
                },
                "velocity": {
                    "x": 7.912130355834961,
                    "y": 1.2801584005355835,
                    "z": 0.07184703648090363
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.831975936889648,
                "transform": {
                    "location": {
                        "x": 2997.265869140625,
                        "y": 4263.15576171875,
                        "z": 361.2939453125
                    },
                    "rotation": {
                        "roll": -0.0003356907982379198,
                        "pitch": -0.6900949478149414,
                        "yaw": -170.82015991210938
                    }
                },
                "velocity": {
                    "x": -8.718212127685547,
                    "y": -1.4106241464614868,
                    "z": -0.08198577910661697
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.057906150817871,
                "transform": {
                    "location": {
                        "x": 2974.678955078125,
                        "y": 4262.79443359375,
                        "z": 361.07733154296875
                    },
                    "rotation": {
                        "roll": -0.00137328973505646,
                        "pitch": -0.4799778461456299,
                        "yaw": -170.73582458496094
                    }
                },
                "velocity": {
                    "x": -10.914437294006348,
                    "y": -1.7728713750839233,
                    "z": -0.09635179489850998
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.304218292236328,
                "transform": {
                    "location": {
                        "x": 3019.71435546875,
                        "y": 4276.86669921875,
                        "z": 361.51715087890625
                    },
                    "rotation": {
                        "roll": 0.0006537591107189655,
                        "pitch": 0.5042113661766052,
                        "yaw": 9.193861961364746
                    }
                },
                "velocity": {
                    "x": 7.210046768188477,
                    "y": 1.1670316457748413,
                    "z": 0.06980542838573456
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.126556396484375,
                "transform": {
                    "location": {
                        "x": 3021.64453125,
                        "y": 4273.88720703125,
                        "z": 361.5347900390625
                    },
                    "rotation": {
                        "roll": 0.0009242139058187604,
                        "pitch": 0.4915072023868561,
                        "yaw": 9.170058250427246
                    }
                },
                "velocity": {
                    "x": 7.034878253936768,
                    "y": 1.1373604536056519,
                    "z": 0.06859377026557922
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3048.54931640625,
                        "y": 4283.3818359375,
                        "z": 361.8465576171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2721636295318604,
                        "yaw": 43.619869232177734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3050.901123046875,
                        "y": 4278.56298828125,
                        "z": 361.8323669433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5927579402923584,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.467896461486816,
                "transform": {
                    "location": {
                        "x": 2947.357177734375,
                        "y": 4258.3701171875,
                        "z": 360.85369873046875
                    },
                    "rotation": {
                        "roll": 0.0010771737433969975,
                        "pitch": -0.2853994369506836,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -13.294575691223145,
                    "y": -2.1512703895568848,
                    "z": -0.10270773619413376
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.019469141960144043,
        "expert_target_speed": 8.938565570975479,
        "target_point": [
            37.46542108546863,
            0.3504043424067582
        ],
        "target_point_next": [
            88.46312136436367,
            0.8407425924467393
        ]
    },
    "270": {
        "acceleration": [
            -0.16239166259765625,
            0.15865087509155273,
            0.016245394945144653
        ],
        "angular_velocity": [
            -0.030467336997389793,
            0.365627259016037,
            1.3750925064086914
        ],
        "forward_vector": [
            -0.9893133044242859,
            -0.14545685052871704,
            -0.010069676674902439
        ],
        "right_vector": [
            0.14547723531723022,
            -0.9893606901168823,
            -0.0013197121443226933
        ],
        "location": [
            2975.50390625,
            4259.75341796875,
            361.0834655761719
        ],
        "rotation": [
            0.07561779022216797,
            -0.5769597291946411,
            -171.63583374023438
        ],
        "velocity": [
            -8.33002758026123,
            -1.2042958736419678,
            -0.07457900047302246
        ],
        "speed": 8.416631632617875,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.729557037353516,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.335205078125,
                        "y": 4253.994140625,
                        "z": 360.6732482910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3948327302932739,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.507044792175293,
                "transform": {
                    "location": {
                        "x": 3020.024658203125,
                        "y": 4270.13037109375,
                        "z": 361.501953125
                    },
                    "rotation": {
                        "roll": 0.0007644250290468335,
                        "pitch": -0.5416544675827026,
                        "yaw": -170.8036346435547
                    }
                },
                "velocity": {
                    "x": -10.370840072631836,
                    "y": -1.6834112405776978,
                    "z": -0.09903183579444885
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.775414943695068,
                "transform": {
                    "location": {
                        "x": 2934.8994140625,
                        "y": 4263.126953125,
                        "z": 360.77374267578125
                    },
                    "rotation": {
                        "roll": 0.008365875110030174,
                        "pitch": 0.37822169065475464,
                        "yaw": 9.320631980895996
                    }
                },
                "velocity": {
                    "x": 7.672110557556152,
                    "y": 1.261994481086731,
                    "z": 0.05634962022304535
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.823888778686523,
                "transform": {
                    "location": {
                        "x": 2941.152099609375,
                        "y": 4260.8583984375,
                        "z": 360.8083801269531
                    },
                    "rotation": {
                        "roll": 0.0012870590435341,
                        "pitch": 0.4628204107284546,
                        "yaw": 9.238408088684082
                    }
                },
                "velocity": {
                    "x": 8.709033966064453,
                    "y": 1.4175872802734375,
                    "z": 0.06468835473060608
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.000353813171387,
                "transform": {
                    "location": {
                        "x": 3014.279052734375,
                        "y": 4265.90673828125,
                        "z": 361.4437561035156
                    },
                    "rotation": {
                        "roll": 0.0003493729163892567,
                        "pitch": -0.550041913986206,
                        "yaw": -170.7985076904297
                    }
                },
                "velocity": {
                    "x": -8.884113311767578,
                    "y": -1.4392441511154175,
                    "z": -0.08643657714128494
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.003645896911621,
                "transform": {
                    "location": {
                        "x": 2996.498291015625,
                        "y": 4266.32275390625,
                        "z": 361.27874755859375
                    },
                    "rotation": {
                        "roll": 0.0009592599817551672,
                        "pitch": -0.5141561031341553,
                        "yaw": -170.81753540039062
                    }
                },
                "velocity": {
                    "x": -10.86220645904541,
                    "y": -1.755766749382019,
                    "z": -0.09988515824079514
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037162780761719,
                "transform": {
                    "location": {
                        "x": 2978.435302734375,
                        "y": 4270.18505859375,
                        "z": 361.1288146972656
                    },
                    "rotation": {
                        "roll": -6.1033999372739345e-05,
                        "pitch": 0.5211843848228455,
                        "yaw": 9.183025360107422
                    }
                },
                "velocity": {
                    "x": 7.933517932891846,
                    "y": 1.2845474481582642,
                    "z": 0.07229341566562653
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03398609161377,
                "transform": {
                    "location": {
                        "x": 2981.56201171875,
                        "y": 4267.400390625,
                        "z": 361.1476745605469
                    },
                    "rotation": {
                        "roll": -0.00036621157778427005,
                        "pitch": 0.5365250110626221,
                        "yaw": 9.191547393798828
                    }
                },
                "velocity": {
                    "x": 7.930507183074951,
                    "y": 1.2832452058792114,
                    "z": 0.07254678755998611
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.826990127563477,
                "transform": {
                    "location": {
                        "x": 2995.092529296875,
                        "y": 4262.80419921875,
                        "z": 361.2726135253906
                    },
                    "rotation": {
                        "roll": -0.0008850122103467584,
                        "pitch": -0.5833117961883545,
                        "yaw": -170.7882080078125
                    }
                },
                "velocity": {
                    "x": -8.71314525604248,
                    "y": -1.4108611345291138,
                    "z": -0.07953763008117676
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.724705696105957,
                "transform": {
                    "location": {
                        "x": 2971.864501953125,
                        "y": 4262.3369140625,
                        "z": 361.052490234375
                    },
                    "rotation": {
                        "roll": 0.000782189832534641,
                        "pitch": -0.47149476408958435,
                        "yaw": -170.78965759277344
                    }
                },
                "velocity": {
                    "x": -11.57307243347168,
                    "y": -1.8768709897994995,
                    "z": -0.10031762719154358
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.064866065979004,
                "transform": {
                    "location": {
                        "x": 3021.489013671875,
                        "y": 4277.15380859375,
                        "z": 361.5343017578125
                    },
                    "rotation": {
                        "roll": -6.103717896621674e-05,
                        "pitch": 0.5049217343330383,
                        "yaw": 9.193665504455566
                    }
                },
                "velocity": {
                    "x": 6.973783016204834,
                    "y": 1.1287157535552979,
                    "z": 0.06844295561313629
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.914486408233643,
                "transform": {
                    "location": {
                        "x": 3023.37646484375,
                        "y": 4274.1669921875,
                        "z": 361.55133056640625
                    },
                    "rotation": {
                        "roll": 0.0003808714682236314,
                        "pitch": 0.5098735690116882,
                        "yaw": 9.193877220153809
                    }
                },
                "velocity": {
                    "x": 6.825575351715088,
                    "y": 1.1031898260116577,
                    "z": 0.06794830411672592
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4628,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3049.80615234375,
                        "y": 4285.0263671875,
                        "z": 361.8910827636719
                    },
                    "rotation": {
                        "roll": -2.668373255687584e-08,
                        "pitch": 0.902015209197998,
                        "yaw": 60.99567413330078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4627,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3052.963623046875,
                        "y": 4278.85498046875,
                        "z": 361.8401794433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5927579402923584,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.347024917602539,
                "transform": {
                    "location": {
                        "x": 2944.0546875,
                        "y": 4257.8359375,
                        "z": 360.82904052734375
                    },
                    "rotation": {
                        "roll": 0.0015154622960835695,
                        "pitch": -0.42074644565582275,
                        "yaw": -170.81442260742188
                    }
                },
                "velocity": {
                    "x": -13.175477027893066,
                    "y": -2.1307284832000732,
                    "z": -0.09929487109184265
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05229410156607628,
        "expert_target_speed": 8.925793725271635,
        "target_point": [
            35.35938580707392,
            0.5295840562760521
        ],
        "target_point_next": [
            86.35412650024008,
            1.2659854225206892
        ]
    },
    "275": {
        "acceleration": [
            -0.39554595947265625,
            -0.10324239730834961,
            0.008233338594436646
        ],
        "angular_velocity": [
            -0.2188708633184433,
            0.19599811732769012,
            -2.9370269775390625
        ],
        "forward_vector": [
            -0.9899885058403015,
            -0.14087502658367157,
            -0.008767492137849331
        ],
        "right_vector": [
            0.14088885486125946,
            -0.9900249242782593,
            -0.0009777810191735625
        ],
        "location": [
            2973.410888671875,
            4259.4541015625,
            361.06463623046875
        ],
        "rotation": [
            0.05602489039301872,
            -0.5023467540740967,
            -171.9011993408203
        ],
        "velocity": [
            -8.415786743164062,
            -1.1955064535140991,
            -0.07279209792613983
        ],
        "speed": 8.500276594723836,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.61703872680664,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2895.809814453125,
                        "y": 4256.71533203125,
                        "z": 360.61517333984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.39083021879196167,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2901.38720703125,
                        "y": 4254.32568359375,
                        "z": 360.5480651855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3948327302932739,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.684764862060547,
                "transform": {
                    "location": {
                        "x": 3017.41796875,
                        "y": 4269.70751953125,
                        "z": 361.4767761230469
                    },
                    "rotation": {
                        "roll": 0.0015703593380749226,
                        "pitch": -0.5396668910980225,
                        "yaw": -170.79904174804688
                    }
                },
                "velocity": {
                    "x": -10.546722412109375,
                    "y": -1.7090215682983398,
                    "z": -0.10043634474277496
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.191095352172852,
                "transform": {
                    "location": {
                        "x": 2936.870849609375,
                        "y": 4263.44970703125,
                        "z": 360.7884216308594
                    },
                    "rotation": {
                        "roll": 0.007271940819919109,
                        "pitch": 0.4792265295982361,
                        "yaw": 9.317532539367676
                    }
                },
                "velocity": {
                    "x": 8.08336067199707,
                    "y": 1.3227132558822632,
                    "z": 0.06120796129107475
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.308880805969238,
                "transform": {
                    "location": {
                        "x": 2943.272705078125,
                        "y": 4261.203125,
                        "z": 360.82464599609375
                    },
                    "rotation": {
                        "roll": 0.0009626694372855127,
                        "pitch": 0.42408642172813416,
                        "yaw": 9.222594261169434
                    }
                },
                "velocity": {
                    "x": 8.201171875,
                    "y": 1.3320374488830566,
                    "z": 0.06299491971731186
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.493630409240723,
                "transform": {
                    "location": {
                        "x": 3012.128173828125,
                        "y": 4265.55859375,
                        "z": 361.4230651855469
                    },
                    "rotation": {
                        "roll": -0.00036620598984882236,
                        "pitch": -0.5544679164886475,
                        "yaw": -170.8009796142578
                    }
                },
                "velocity": {
                    "x": -8.384001731872559,
                    "y": -1.3578743934631348,
                    "z": -0.08022931218147278
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.513500213623047,
                "transform": {
                    "location": {
                        "x": 2993.716552734375,
                        "y": 4265.873046875,
                        "z": 361.2528076171875
                    },
                    "rotation": {
                        "roll": 0.000372123351553455,
                        "pitch": -0.5110757350921631,
                        "yaw": -170.8176727294922
                    }
                },
                "velocity": {
                    "x": -11.365487098693848,
                    "y": -1.8371883630752563,
                    "z": -0.10546498745679855
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033798217773438,
                "transform": {
                    "location": {
                        "x": 2980.41845703125,
                        "y": 4270.50634765625,
                        "z": 361.1469421386719
                    },
                    "rotation": {
                        "roll": -0.00036621102481149137,
                        "pitch": 0.5276594161987305,
                        "yaw": 9.212712287902832
                    }
                },
                "velocity": {
                    "x": 7.930131435394287,
                    "y": 1.2844064235687256,
                    "z": 0.07230670750141144
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.014076232910156,
                "transform": {
                    "location": {
                        "x": 2983.542236328125,
                        "y": 4267.720703125,
                        "z": 361.166015625
                    },
                    "rotation": {
                        "roll": -0.0001525853294879198,
                        "pitch": 0.5345442295074463,
                        "yaw": 9.18824577331543
                    }
                },
                "velocity": {
                    "x": 7.910953044891357,
                    "y": 1.2794592380523682,
                    "z": 0.07228566706180573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.606104850769043,
                "transform": {
                    "location": {
                        "x": 2992.960205078125,
                        "y": 4262.45849609375,
                        "z": 361.252685546875
                    },
                    "rotation": {
                        "roll": -0.0003051719395443797,
                        "pitch": -0.5597817897796631,
                        "yaw": -170.81024169921875
                    }
                },
                "velocity": {
                    "x": -8.494989395141602,
                    "y": -1.3761337995529175,
                    "z": -0.08025997877120972
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.387648582458496,
                "transform": {
                    "location": {
                        "x": 2968.88623046875,
                        "y": 4261.8544921875,
                        "z": 361.0265808105469
                    },
                    "rotation": {
                        "roll": 0.0006539856549352407,
                        "pitch": -0.4667682647705078,
                        "yaw": -170.8097686767578
                    }
                },
                "velocity": {
                    "x": -12.22789478302002,
                    "y": -1.9803377389907837,
                    "z": -0.10345721244812012
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.795895576477051,
                "transform": {
                    "location": {
                        "x": 3023.1962890625,
                        "y": 4277.4306640625,
                        "z": 361.5509338378906
                    },
                    "rotation": {
                        "roll": 0.0001886010286398232,
                        "pitch": 0.49775683879852295,
                        "yaw": 9.193906784057617
                    }
                },
                "velocity": {
                    "x": 6.708290100097656,
                    "y": 1.085764765739441,
                    "z": 0.06446334719657898
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.672824382781982,
                "transform": {
                    "location": {
                        "x": 3025.052490234375,
                        "y": 4274.43798828125,
                        "z": 361.56781005859375
                    },
                    "rotation": {
                        "roll": -0.000305179157294333,
                        "pitch": 0.5032892823219299,
                        "yaw": 9.16411304473877
                    }
                },
                "velocity": {
                    "x": 6.587091445922852,
                    "y": 1.0642986297607422,
                    "z": 0.06386693567037582
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.380133628845215,
                "transform": {
                    "location": {
                        "x": 2940.75732421875,
                        "y": 4257.30322265625,
                        "z": 360.8043518066406
                    },
                    "rotation": {
                        "roll": -0.0005187978385947645,
                        "pitch": -0.4160199761390686,
                        "yaw": -170.80868530273438
                    }
                },
                "velocity": {
                    "x": -13.208001136779785,
                    "y": -2.13700795173645,
                    "z": -0.09935256093740463
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09236807376146317,
        "expert_target_speed": 8.98631411919442,
        "target_point": [
            33.2422428525999,
            0.6918796880061846
        ],
        "target_point_next": [
            84.2330259584274,
            1.6644554382284689
        ]
    },
    "280": {
        "acceleration": [
            0.39791107177734375,
            0.01888275146484375,
            0.002726614475250244
        ],
        "angular_velocity": [
            -0.1296883374452591,
            -0.18429630994796753,
            2.841447353363037
        ],
        "forward_vector": [
            -0.9898645877838135,
            -0.14174909889698029,
            -0.008671173825860023
        ],
        "right_vector": [
            0.14175720512866974,
            -0.9899013638496399,
            -0.0003248367574997246
        ],
        "location": [
            2971.303466796875,
            4259.1533203125,
            361.04632568359375
        ],
        "rotation": [
            0.01861247606575489,
            -0.4968279302120209,
            -171.85061645507812
        ],
        "velocity": [
            -8.406944274902344,
            -1.2057706117630005,
            -0.07239237427711487
        ],
        "speed": 8.492973260849501,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 39.49030303955078,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.865234375,
                        "y": 4257.04736328125,
                        "z": 360.57769775390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3948327302932739,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.740107536315918,
                "transform": {
                    "location": {
                        "x": 2903.33251953125,
                        "y": 4254.64013671875,
                        "z": 360.5487365722656
                    },
                    "rotation": {
                        "roll": -0.0001831045519793406,
                        "pitch": 0.35240358114242554,
                        "yaw": 9.202857971191406
                    }
                },
                "velocity": {
                    "x": 6.651470184326172,
                    "y": 1.0885882377624512,
                    "z": -0.044378843158483505
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.251959800720215,
                "transform": {
                    "location": {
                        "x": 3014.71142578125,
                        "y": 4269.26904296875,
                        "z": 361.45074462890625
                    },
                    "rotation": {
                        "roll": 0.0014114140067249537,
                        "pitch": -0.5264231562614441,
                        "yaw": -170.81349182128906
                    }
                },
                "velocity": {
                    "x": -11.106847763061523,
                    "y": -1.7981314659118652,
                    "z": -0.10607150942087173
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02016544342041,
                "transform": {
                    "location": {
                        "x": 2938.879638671875,
                        "y": 4263.77783203125,
                        "z": 360.8033752441406
                    },
                    "rotation": {
                        "roll": 0.004111724440008402,
                        "pitch": 0.4144558608531952,
                        "yaw": 9.264068603515625
                    }
                },
                "velocity": {
                    "x": 7.915161609649658,
                    "y": 1.29212486743927,
                    "z": 0.06070428714156151
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.057849884033203,
                "transform": {
                    "location": {
                        "x": 2945.28369140625,
                        "y": 4261.52978515625,
                        "z": 360.84002685546875
                    },
                    "rotation": {
                        "roll": 0.0007226986344903708,
                        "pitch": 0.41879984736442566,
                        "yaw": 9.211426734924316
                    }
                },
                "velocity": {
                    "x": 7.953813076019287,
                    "y": 1.2892346382141113,
                    "z": 0.06061064451932907
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.43255615234375,
                "transform": {
                    "location": {
                        "x": 3010.056396484375,
                        "y": 4265.22314453125,
                        "z": 361.4033203125
                    },
                    "rotation": {
                        "roll": 1.3474207207764266e-06,
                        "pitch": -0.5373241305351257,
                        "yaw": -170.8048858642578
                    }
                },
                "velocity": {
                    "x": -8.32400894165039,
                    "y": -1.3462941646575928,
                    "z": -0.07981189340353012
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.133514404296875,
                "transform": {
                    "location": {
                        "x": 2990.79736328125,
                        "y": 4265.4013671875,
                        "z": 361.22552490234375
                    },
                    "rotation": {
                        "roll": -0.00015258468920364976,
                        "pitch": -0.508302628993988,
                        "yaw": -170.8160400390625
                    }
                },
                "velocity": {
                    "x": -11.97745132446289,
                    "y": -1.9366183280944824,
                    "z": -0.11112060397863388
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035340309143066,
                "transform": {
                    "location": {
                        "x": 2982.40087890625,
                        "y": 4270.826171875,
                        "z": 361.16522216796875
                    },
                    "rotation": {
                        "roll": -0.0009460446308366954,
                        "pitch": 0.5275296568870544,
                        "yaw": 9.187943458557129
                    }
                },
                "velocity": {
                    "x": 7.931591510772705,
                    "y": 1.2850043773651123,
                    "z": 0.07284482568502426
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032482147216797,
                "transform": {
                    "location": {
                        "x": 2985.522216796875,
                        "y": 4268.041015625,
                        "z": 361.1843566894531
                    },
                    "rotation": {
                        "roll": -0.00015258546045515686,
                        "pitch": 0.5405821204185486,
                        "yaw": 9.187482833862305
                    }
                },
                "velocity": {
                    "x": 7.929110050201416,
                    "y": 1.2824653387069702,
                    "z": 0.07261117547750473
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.394983291625977,
                "transform": {
                    "location": {
                        "x": 2990.75048828125,
                        "y": 4262.10107421875,
                        "z": 361.2306213378906
                    },
                    "rotation": {
                        "roll": 4.419049946591258e-05,
                        "pitch": -0.39400628209114075,
                        "yaw": -170.7872314453125
                    }
                },
                "velocity": {
                    "x": -9.273688316345215,
                    "y": -1.5023536682128906,
                    "z": -0.08576139062643051
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.926721572875977,
                "transform": {
                    "location": {
                        "x": 2965.752685546875,
                        "y": 4261.3466796875,
                        "z": 360.999755859375
                    },
                    "rotation": {
                        "roll": 6.846751784905791e-05,
                        "pitch": -0.4603547155857086,
                        "yaw": -170.81935119628906
                    }
                },
                "velocity": {
                    "x": -12.760286331176758,
                    "y": -2.064870595932007,
                    "z": -0.10743649303913116
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.5828094482421875,
                "transform": {
                    "location": {
                        "x": 3024.845947265625,
                        "y": 4277.697265625,
                        "z": 361.56683349609375
                    },
                    "rotation": {
                        "roll": 0.0011296301381662488,
                        "pitch": 0.5073122978210449,
                        "yaw": 9.191658973693848
                    }
                },
                "velocity": {
                    "x": 6.498167514801025,
                    "y": 1.0502911806106567,
                    "z": 0.06391244381666183
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.425625801086426,
                "transform": {
                    "location": {
                        "x": 3026.667236328125,
                        "y": 4274.69873046875,
                        "z": 361.58349609375
                    },
                    "rotation": {
                        "roll": -0.0006103511550463736,
                        "pitch": 0.49816665053367615,
                        "yaw": 9.19145393371582
                    }
                },
                "velocity": {
                    "x": 6.343082904815674,
                    "y": 1.0247682332992554,
                    "z": 0.06175589561462402
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.39191722869873,
                "transform": {
                    "location": {
                        "x": 2937.453125,
                        "y": 4256.767578125,
                        "z": 360.7797546386719
                    },
                    "rotation": {
                        "roll": -0.0006103508058004081,
                        "pitch": -0.415678471326828,
                        "yaw": -170.81051635742188
                    }
                },
                "velocity": {
                    "x": -13.219449043273926,
                    "y": -2.140011787414551,
                    "z": -0.09981468319892883
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11529842019081116,
        "expert_target_speed": 8.967942765365441,
        "target_point": [
            31.114062677821632,
            0.6635311519343219
        ],
        "target_point_next": [
            82.10568434215274,
            1.5911007596632913
        ]
    },
    "285": {
        "acceleration": [
            0.93414306640625,
            -0.01849651336669922,
            -0.00456199049949646
        ],
        "angular_velocity": [
            -0.06296225637197495,
            -0.18533237278461456,
            -1.9273844957351685
        ],
        "forward_vector": [
            -0.9896692037582397,
            -0.14305393397808075,
            -0.009512041695415974
        ],
        "right_vector": [
            0.14305900037288666,
            -0.9897141456604004,
            0.00014859763905405998
        ],
        "location": [
            2969.2255859375,
            4258.85302734375,
            361.0287170410156
        ],
        "rotation": [
            -0.00851440243422985,
            -0.5450080633163452,
            -171.7750244140625
        ],
        "velocity": [
            -8.20843505859375,
            -1.2001137733459473,
            -0.0715896338224411
        ],
        "speed": 8.295702452482589,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.392913818359375,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.920166015625,
                        "y": 4257.380859375,
                        "z": 360.5402526855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3948327302932739,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.9254069328308105,
                "transform": {
                    "location": {
                        "x": 2905.01806640625,
                        "y": 4254.921875,
                        "z": 360.5467224121094
                    },
                    "rotation": {
                        "roll": -0.003662110073491931,
                        "pitch": 0.3830028474330902,
                        "yaw": 9.531881332397461
                    }
                },
                "velocity": {
                    "x": 6.8247575759887695,
                    "y": 1.17607843875885,
                    "z": 0.027987660840153694
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.847956657409668,
                "transform": {
                    "location": {
                        "x": 3011.85986328125,
                        "y": 4268.8076171875,
                        "z": 361.4233093261719
                    },
                    "rotation": {
                        "roll": 0.00034673328627832234,
                        "pitch": -0.5236432552337646,
                        "yaw": -170.81185913085938
                    }
                },
                "velocity": {
                    "x": -11.695475578308105,
                    "y": -1.89139723777771,
                    "z": -0.1120007187128067
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.975413799285889,
                "transform": {
                    "location": {
                        "x": 2940.841796875,
                        "y": 4264.09814453125,
                        "z": 360.8180236816406
                    },
                    "rotation": {
                        "roll": 0.0035660630092024803,
                        "pitch": 0.4164297878742218,
                        "yaw": 9.277019500732422
                    }
                },
                "velocity": {
                    "x": 7.871407508850098,
                    "y": 1.2823971509933472,
                    "z": 0.06021365895867348
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.835025787353516,
                "transform": {
                    "location": {
                        "x": 2947.122314453125,
                        "y": 4261.82763671875,
                        "z": 360.854248046875
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": 0.39649927616119385,
                        "yaw": 9.176681518554688
                    }
                },
                "velocity": {
                    "x": 6.74697732925415,
                    "y": 1.0923093557357788,
                    "z": 0.052329033613204956
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.019904136657715,
                "transform": {
                    "location": {
                        "x": 3007.904296875,
                        "y": 4264.875,
                        "z": 361.38287353515625
                    },
                    "rotation": {
                        "roll": -3.051700332434848e-05,
                        "pitch": -0.5220040082931519,
                        "yaw": -170.81112670898438
                    }
                },
                "velocity": {
                    "x": -8.903791427612305,
                    "y": -1.4402315616607666,
                    "z": -0.08311674743890762
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.594730377197266,
                "transform": {
                    "location": {
                        "x": 2987.734619140625,
                        "y": 4264.90576171875,
                        "z": 361.1969299316406
                    },
                    "rotation": {
                        "roll": 0.00019594549667090178,
                        "pitch": -0.5109322667121887,
                        "yaw": -170.8092041015625
                    }
                },
                "velocity": {
                    "x": -12.43254566192627,
                    "y": -2.011392116546631,
                    "z": -0.11556768417358398
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03445053100586,
                "transform": {
                    "location": {
                        "x": 2984.3837890625,
                        "y": 4271.1484375,
                        "z": 361.1836242675781
                    },
                    "rotation": {
                        "roll": -0.0002441463584546,
                        "pitch": 0.5304051637649536,
                        "yaw": 9.219042778015137
                    }
                },
                "velocity": {
                    "x": 7.930634021759033,
                    "y": 1.285374402999878,
                    "z": 0.07251283526420593
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015897750854492,
                "transform": {
                    "location": {
                        "x": 2987.50244140625,
                        "y": 4268.361328125,
                        "z": 361.2028503417969
                    },
                    "rotation": {
                        "roll": -0.00039672889397479594,
                        "pitch": 0.5406299233436584,
                        "yaw": 9.190811157226562
                    }
                },
                "velocity": {
                    "x": 7.91265869140625,
                    "y": 1.2803007364273071,
                    "z": 0.07271113991737366
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.258440017700195,
                "transform": {
                    "location": {
                        "x": 2988.406494140625,
                        "y": 4261.72119140625,
                        "z": 361.20947265625
                    },
                    "rotation": {
                        "roll": 0.0002974032540805638,
                        "pitch": -0.46715760231018066,
                        "yaw": -170.81065368652344
                    }
                },
                "velocity": {
                    "x": -9.139033317565918,
                    "y": -1.4796302318572998,
                    "z": -0.08642913401126862
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.05716609954834,
                "transform": {
                    "location": {
                        "x": 2962.533447265625,
                        "y": 4260.826171875,
                        "z": 360.9728088378906
                    },
                    "rotation": {
                        "roll": -6.10368006164208e-05,
                        "pitch": -0.46307313442230225,
                        "yaw": -170.8137664794922
                    }
                },
                "velocity": {
                    "x": -12.889278411865234,
                    "y": -2.0843210220336914,
                    "z": -0.10812000930309296
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.358529567718506,
                "transform": {
                    "location": {
                        "x": 3026.442138671875,
                        "y": 4277.95556640625,
                        "z": 361.5823669433594
                    },
                    "rotation": {
                        "roll": -0.0004577672516461462,
                        "pitch": 0.5064243674278259,
                        "yaw": 9.186785697937012
                    }
                },
                "velocity": {
                    "x": 6.276697158813477,
                    "y": 1.0150405168533325,
                    "z": 0.060550104826688766
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.203985214233398,
                "transform": {
                    "location": {
                        "x": 3028.223876953125,
                        "y": 4274.95068359375,
                        "z": 361.598388671875
                    },
                    "rotation": {
                        "roll": -0.0015258791390806437,
                        "pitch": 0.5040064454078674,
                        "yaw": 9.163732528686523
                    }
                },
                "velocity": {
                    "x": 6.124242305755615,
                    "y": 0.989660918712616,
                    "z": 0.0605301670730114
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.20458984375,
                        "y": 4247.3876953125,
                        "z": 360.6572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.388276100158691,
                "transform": {
                    "location": {
                        "x": 2934.148681640625,
                        "y": 4256.23291015625,
                        "z": 360.7551574707031
                    },
                    "rotation": {
                        "roll": -0.00012206625251565129,
                        "pitch": -0.42214664816856384,
                        "yaw": -170.80868530273438
                    }
                },
                "velocity": {
                    "x": -13.216021537780762,
                    "y": -2.138401985168457,
                    "z": -0.099679134786129
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13816101849079132,
        "expert_target_speed": 8.825779692159793,
        "target_point": [
            29.015443338603077,
            0.6225364528623043
        ],
        "target_point_next": [
            80.00824446164222,
            1.4828264979296097
        ]
    },
    "290": {
        "acceleration": [
            0.9691429138183594,
            0.008008480072021484,
            0.005223602056503296
        ],
        "angular_velocity": [
            -0.03719336539506912,
            -0.08815117925405502,
            3.664294719696045
        ],
        "forward_vector": [
            -0.9890264868736267,
            -0.14740195870399475,
            -0.009967519901692867
        ],
        "right_vector": [
            0.14740389585494995,
            -0.9890762567520142,
            0.0005448554875329137
        ],
        "location": [
            2967.202392578125,
            4258.55322265625,
            361.0114440917969
        ],
        "rotation": [
            -0.031219469383358955,
            -0.5711062550544739,
            -171.52317810058594
        ],
        "velocity": [
            -7.9820756912231445,
            -1.2021539211273193,
            -0.06802752614021301
        ],
        "speed": 8.072094300148954,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.349552154541016,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.053505897521973,
                "transform": {
                    "location": {
                        "x": 2901.914306640625,
                        "y": 4257.712890625,
                        "z": 360.5276184082031
                    },
                    "rotation": {
                        "roll": -0.003173823468387127,
                        "pitch": 0.39011988043785095,
                        "yaw": 9.532407760620117
                    }
                },
                "velocity": {
                    "x": 7.939549446105957,
                    "y": 1.3496559858322144,
                    "z": 0.03071027621626854
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.6756205558776855,
                "transform": {
                    "location": {
                        "x": 2906.692138671875,
                        "y": 4255.2099609375,
                        "z": 360.5569763183594
                    },
                    "rotation": {
                        "roll": 0.0026246001943945885,
                        "pitch": 0.3980770707130432,
                        "yaw": 9.885712623596191
                    }
                },
                "velocity": {
                    "x": 6.576955318450928,
                    "y": 1.1425070762634277,
                    "z": 0.04746062308549881
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.409013748168945,
                "transform": {
                    "location": {
                        "x": 3008.857666015625,
                        "y": 4268.322265625,
                        "z": 361.3946838378906
                    },
                    "rotation": {
                        "roll": 0.00011784549860749394,
                        "pitch": -0.513029158115387,
                        "yaw": -170.82432556152344
                    }
                },
                "velocity": {
                    "x": -12.249456405639648,
                    "y": -1.980170726776123,
                    "z": -0.11553066223859787
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.100140571594238,
                "transform": {
                    "location": {
                        "x": 2942.83154296875,
                        "y": 4264.421875,
                        "z": 360.8331298828125
                    },
                    "rotation": {
                        "roll": 0.0022701104171574116,
                        "pitch": 0.44953569769859314,
                        "yaw": 9.227927207946777
                    }
                },
                "velocity": {
                    "x": 7.995059013366699,
                    "y": 1.2990809679031372,
                    "z": 0.06082213297486305
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.002890586853027,
                "transform": {
                    "location": {
                        "x": 2948.806396484375,
                        "y": 4262.1005859375,
                        "z": 360.8669738769531
                    },
                    "rotation": {
                        "roll": 0.0012318110093474388,
                        "pitch": 0.4370911121368408,
                        "yaw": 9.16291332244873
                    }
                },
                "velocity": {
                    "x": 6.912798881530762,
                    "y": 1.118415117263794,
                    "z": 0.05323294550180435
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.434249877929688,
                "transform": {
                    "location": {
                        "x": 3005.62744140625,
                        "y": 4264.50732421875,
                        "z": 361.36151123046875
                    },
                    "rotation": {
                        "roll": 2.591110569483135e-05,
                        "pitch": -0.5226733684539795,
                        "yaw": -170.81483459472656
                    }
                },
                "velocity": {
                    "x": -9.312911033630371,
                    "y": -1.505685567855835,
                    "z": -0.08755813539028168
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.654884338378906,
                "transform": {
                    "location": {
                        "x": 2984.612060546875,
                        "y": 4264.400390625,
                        "z": 361.16802978515625
                    },
                    "rotation": {
                        "roll": -0.00048827871796675026,
                        "pitch": -0.5220040082931519,
                        "yaw": -170.80189514160156
                    }
                },
                "velocity": {
                    "x": -12.491731643676758,
                    "y": -2.022188425064087,
                    "z": -0.11606383323669434
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034760475158691,
                "transform": {
                    "location": {
                        "x": 2986.366455078125,
                        "y": 4271.47021484375,
                        "z": 361.2020568847656
                    },
                    "rotation": {
                        "roll": 0.00206743273884058,
                        "pitch": 0.5348925590515137,
                        "yaw": 9.191786766052246
                    }
                },
                "velocity": {
                    "x": 7.9312005043029785,
                    "y": 1.2837998867034912,
                    "z": 0.0727841928601265
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031305313110352,
                "transform": {
                    "location": {
                        "x": 2989.482421875,
                        "y": 4268.681640625,
                        "z": 361.2213439941406
                    },
                    "rotation": {
                        "roll": 0.00044333163532428443,
                        "pitch": 0.5403362512588501,
                        "yaw": 9.190702438354492
                    }
                },
                "velocity": {
                    "x": 7.927880764007568,
                    "y": 1.2826919555664062,
                    "z": 0.07264158129692078
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.481990814208984,
                "transform": {
                    "location": {
                        "x": 2986.24169921875,
                        "y": 4261.37060546875,
                        "z": 361.1914367675781
                    },
                    "rotation": {
                        "roll": -0.0005188047070987523,
                        "pitch": -0.7451804280281067,
                        "yaw": -170.7871551513672
                    }
                },
                "velocity": {
                    "x": -8.372291564941406,
                    "y": -1.357448697090149,
                    "z": -0.07887952029705048
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.057247161865234,
                "transform": {
                    "location": {
                        "x": 2959.31640625,
                        "y": 4260.30615234375,
                        "z": 360.9463195800781
                    },
                    "rotation": {
                        "roll": -3.052340980502777e-05,
                        "pitch": -0.4649651050567627,
                        "yaw": -170.81976318359375
                    }
                },
                "velocity": {
                    "x": -12.889432907104492,
                    "y": -2.0839593410491943,
                    "z": -0.1065632626414299
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.1252760887146,
                "transform": {
                    "location": {
                        "x": 3027.98046875,
                        "y": 4278.20458984375,
                        "z": 361.59722900390625
                    },
                    "rotation": {
                        "roll": 1.6876030031198752e-06,
                        "pitch": 0.507442057132721,
                        "yaw": 9.186782836914062
                    }
                },
                "velocity": {
                    "x": 6.046432971954346,
                    "y": 0.9778010249137878,
                    "z": 0.0596221424639225
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.995209217071533,
                "transform": {
                    "location": {
                        "x": 3029.728271484375,
                        "y": 4275.19384765625,
                        "z": 361.613037109375
                    },
                    "rotation": {
                        "roll": -0.0008239773451350629,
                        "pitch": 0.5084802508354187,
                        "yaw": 9.195976257324219
                    }
                },
                "velocity": {
                    "x": 5.917914867401123,
                    "y": 0.957764744758606,
                    "z": 0.05919283628463745
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4770555794239044,
                "transform": {
                    "location": {
                        "x": 2899.204833984375,
                        "y": 4247.3876953125,
                        "z": 360.626953125
                    },
                    "rotation": {
                        "roll": -0.0001220691337948665,
                        "pitch": -0.3918752372264862,
                        "yaw": -170.80838012695312
                    }
                },
                "velocity": {
                    "x": 0.003183147171512246,
                    "y": 0.0005469215684570372,
                    "z": -0.47704464197158813
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.382811546325684,
                "transform": {
                    "location": {
                        "x": 2930.845458984375,
                        "y": 4255.697265625,
                        "z": 360.73065185546875
                    },
                    "rotation": {
                        "roll": -0.0002136226394213736,
                        "pitch": -0.4222969114780426,
                        "yaw": -170.80859375
                    }
                },
                "velocity": {
                    "x": -13.210624694824219,
                    "y": -2.1375808715820312,
                    "z": -0.09897331148386002
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15426501631736755,
        "expert_target_speed": 8.660990201859258,
        "target_point": [
            26.97261424648315,
            0.49670158719242297
        ],
        "target_point_next": [
            77.9687041522681,
            1.132845954897224
        ]
    },
    "295": {
        "acceleration": [
            2.164487838745117,
            0.31350135803222656,
            0.041971951723098755
        ],
        "angular_velocity": [
            0.1267971247434616,
            -0.3237316906452179,
            -2.6850335597991943
        ],
        "forward_vector": [
            -0.9887758493423462,
            -0.14899618923664093,
            -0.011064660735428333
        ],
        "right_vector": [
            0.1490025818347931,
            -0.9888367652893066,
            0.0002481912961229682
        ],
        "location": [
            2965.2568359375,
            4258.259765625,
            360.9951477050781
        ],
        "rotation": [
            -0.014221184886991978,
            -0.6339712738990784,
            -171.4307098388672
        ],
        "velocity": [
            -7.55109977722168,
            -1.1414167881011963,
            -0.06371544301509857
        ],
        "speed": 7.636880261580416,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.38383102416992,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.05466079711914,
                "transform": {
                    "location": {
                        "x": 2903.899658203125,
                        "y": 4258.0498046875,
                        "z": 360.5406799316406
                    },
                    "rotation": {
                        "roll": 0.0027042462024837732,
                        "pitch": 0.397339403629303,
                        "yaw": 9.789128303527832
                    }
                },
                "velocity": {
                    "x": 7.9379563331604,
                    "y": 1.3649200201034546,
                    "z": 0.05830933526158333
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.66245698928833,
                "transform": {
                    "location": {
                        "x": 2908.35888671875,
                        "y": 4255.49658203125,
                        "z": 360.5689697265625
                    },
                    "rotation": {
                        "roll": 0.005954588297754526,
                        "pitch": 0.3994840681552887,
                        "yaw": 9.871766090393066
                    }
                },
                "velocity": {
                    "x": 6.567050457000732,
                    "y": 1.1224802732467651,
                    "z": 0.04711216688156128
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.366435050964355,
                "transform": {
                    "location": {
                        "x": 3005.796142578125,
                        "y": 4267.82666015625,
                        "z": 361.3660888671875
                    },
                    "rotation": {
                        "roll": 0.00025241097318939865,
                        "pitch": -0.5304597616195679,
                        "yaw": -170.80645751953125
                    }
                },
                "velocity": {
                    "x": -12.20706558227539,
                    "y": -1.975637435913086,
                    "z": -0.11463034152984619
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.001494407653809,
                "transform": {
                    "location": {
                        "x": 2944.817626953125,
                        "y": 4264.74462890625,
                        "z": 360.84808349609375
                    },
                    "rotation": {
                        "roll": -0.0002746591344475746,
                        "pitch": 0.4233624339103699,
                        "yaw": 9.243921279907227
                    }
                },
                "velocity": {
                    "x": 7.897677421569824,
                    "y": 1.2833596467971802,
                    "z": 0.059893492609262466
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.704286098480225,
                "transform": {
                    "location": {
                        "x": 2950.635986328125,
                        "y": 4262.39599609375,
                        "z": 360.8808898925781
                    },
                    "rotation": {
                        "roll": -0.00012207034160383046,
                        "pitch": 0.4672463834285736,
                        "yaw": 9.166609764099121
                    }
                },
                "velocity": {
                    "x": 7.605457782745361,
                    "y": 1.228601336479187,
                    "z": 0.05978182703256607
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.929500579833984,
                "transform": {
                    "location": {
                        "x": 3003.325439453125,
                        "y": 4264.134765625,
                        "z": 361.3399658203125
                    },
                    "rotation": {
                        "roll": -0.0003967256343457848,
                        "pitch": -0.5416886210441589,
                        "yaw": -170.81666564941406
                    }
                },
                "velocity": {
                    "x": -8.814658164978027,
                    "y": -1.425071120262146,
                    "z": -0.0834370031952858
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.586748123168945,
                "transform": {
                    "location": {
                        "x": 2981.498046875,
                        "y": 4263.896484375,
                        "z": 361.1392517089844
                    },
                    "rotation": {
                        "roll": 0.00016144664550665766,
                        "pitch": -0.5232812762260437,
                        "yaw": -170.802490234375
                    }
                },
                "velocity": {
                    "x": -12.424466133117676,
                    "y": -2.011392116546631,
                    "z": -0.1148216500878334
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034570693969727,
                "transform": {
                    "location": {
                        "x": 2988.349365234375,
                        "y": 4271.79052734375,
                        "z": 361.2205810546875
                    },
                    "rotation": {
                        "roll": 0.002679311204701662,
                        "pitch": 0.5337314605712891,
                        "yaw": 9.212916374206543
                    }
                },
                "velocity": {
                    "x": 7.93090295791626,
                    "y": 1.2844185829162598,
                    "z": 0.07322080433368683
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015745162963867,
                "transform": {
                    "location": {
                        "x": 2991.462646484375,
                        "y": 4269.001953125,
                        "z": 361.23980712890625
                    },
                    "rotation": {
                        "roll": -0.0009155293228104711,
                        "pitch": 0.5393595099449158,
                        "yaw": 9.190723419189453
                    }
                },
                "velocity": {
                    "x": 7.912539005279541,
                    "y": 1.2801334857940674,
                    "z": 0.07179683446884155
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.407301902770996,
                "transform": {
                    "location": {
                        "x": 2984.144287109375,
                        "y": 4261.03076171875,
                        "z": 361.1705017089844
                    },
                    "rotation": {
                        "roll": 0.0014923909911885858,
                        "pitch": -0.5732987523078918,
                        "yaw": -170.813232421875
                    }
                },
                "velocity": {
                    "x": -8.298978805541992,
                    "y": -1.3430254459381104,
                    "z": -0.07717442512512207
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.96983528137207,
                "transform": {
                    "location": {
                        "x": 2956.104248046875,
                        "y": 4259.78662109375,
                        "z": 360.9201965332031
                    },
                    "rotation": {
                        "roll": -0.0018005388556048274,
                        "pitch": -0.4564819931983948,
                        "yaw": -170.81326293945312
                    }
                },
                "velocity": {
                    "x": -12.803194046020508,
                    "y": -2.0698318481445312,
                    "z": -0.10315259546041489
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.9396138191223145,
                "transform": {
                    "location": {
                        "x": 3029.46875,
                        "y": 4278.4453125,
                        "z": 361.6117248535156
                    },
                    "rotation": {
                        "roll": 0.0007342912722378969,
                        "pitch": 0.5117109417915344,
                        "yaw": 9.186969757080078
                    }
                },
                "velocity": {
                    "x": 5.863171100616455,
                    "y": 0.9482013583183289,
                    "z": 0.05614697188138962
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.7881269454956055,
                "transform": {
                    "location": {
                        "x": 3031.18115234375,
                        "y": 4275.4287109375,
                        "z": 361.62713623046875
                    },
                    "rotation": {
                        "roll": 0.0005345966201275587,
                        "pitch": 0.5075649619102478,
                        "yaw": 9.171309471130371
                    }
                },
                "velocity": {
                    "x": 5.713781833648682,
                    "y": 0.9230033159255981,
                    "z": 0.0563025064766407
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.2998722493648529,
                "transform": {
                    "location": {
                        "x": 2899.20556640625,
                        "y": 4247.3876953125,
                        "z": 360.5074768066406
                    },
                    "rotation": {
                        "roll": 0.0005881940014660358,
                        "pitch": -0.39547476172447205,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.00200031790882349,
                    "y": 0.00034136962494812906,
                    "z": -0.29986536502838135
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.388452529907227,
                "transform": {
                    "location": {
                        "x": 2927.542236328125,
                        "y": 4255.16259765625,
                        "z": 360.70623779296875
                    },
                    "rotation": {
                        "roll": 0.0012545903446152806,
                        "pitch": -0.41805535554885864,
                        "yaw": -170.81301879882812
                    }
                },
                "velocity": {
                    "x": -13.216737747192383,
                    "y": -2.1351511478424072,
                    "z": -0.09822369366884232
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17914509773254395,
        "expert_target_speed": 8.329230926334004,
        "target_point": [
            25.005816961012247,
            0.4528820926086934
        ],
        "target_point_next": [
            76.002867233009,
            1.0067131958344007
        ]
    },
    "300": {
        "acceleration": [
            1.2737274169921875,
            0.1827692985534668,
            -0.0044108182191848755
        ],
        "angular_velocity": [
            0.023299774155020714,
            0.12596701085567474,
            3.0700626373291016
        ],
        "forward_vector": [
            -0.9886295199394226,
            -0.14992451667785645,
            -0.011591888964176178
        ],
        "right_vector": [
            0.1499335765838623,
            -0.9886960983276367,
            8.894345228327438e-05
        ],
        "location": [
            2963.431396484375,
            4257.9833984375,
            360.98004150390625
        ],
        "rotation": [
            -0.005096426699310541,
            -0.6641812324523926,
            -171.37686157226562
        ],
        "velocity": [
            -7.1169867515563965,
            -1.0791198015213013,
            -0.06055416911840439
        ],
        "speed": 7.198333138155294,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.539491653442383,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987797737121582,
                "transform": {
                    "location": {
                        "x": 2905.87548828125,
                        "y": 4258.39013671875,
                        "z": 360.5550231933594
                    },
                    "rotation": {
                        "roll": 0.003681834554299712,
                        "pitch": 0.39895814657211304,
                        "yaw": 9.880155563354492
                    }
                },
                "velocity": {
                    "x": 7.870408535003662,
                    "y": 1.3632076978683472,
                    "z": 0.05700676888227463
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.097900390625,
                "transform": {
                    "location": {
                        "x": 2909.895751953125,
                        "y": 4255.76025390625,
                        "z": 360.58001708984375
                    },
                    "rotation": {
                        "roll": 0.0042921751737594604,
                        "pitch": 0.38800936937332153,
                        "yaw": 9.735589027404785
                    }
                },
                "velocity": {
                    "x": 6.011545181274414,
                    "y": 1.0216615200042725,
                    "z": 0.04381091892719269
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.415661811828613,
                "transform": {
                    "location": {
                        "x": 3002.72705078125,
                        "y": 4267.330078125,
                        "z": 361.3371887207031
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": -0.5321605205535889,
                        "yaw": -170.80738830566406
                    }
                },
                "velocity": {
                    "x": -12.255645751953125,
                    "y": -1.9835599660873413,
                    "z": -0.11529888957738876
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0372314453125,
                "transform": {
                    "location": {
                        "x": 2946.794189453125,
                        "y": 4265.0654296875,
                        "z": 360.8631896972656
                    },
                    "rotation": {
                        "roll": 0.0016006892547011375,
                        "pitch": 0.44011005759239197,
                        "yaw": 9.211268424987793
                    }
                },
                "velocity": {
                    "x": 7.933280944824219,
                    "y": 1.2870467901229858,
                    "z": 0.060439832508563995
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.698451042175293,
                "transform": {
                    "location": {
                        "x": 2952.674560546875,
                        "y": 4262.72607421875,
                        "z": 360.89691162109375
                    },
                    "rotation": {
                        "roll": 0.0015359035460278392,
                        "pitch": 0.48439016938209534,
                        "yaw": 9.182902336120605
                    }
                },
                "velocity": {
                    "x": 8.586463928222656,
                    "y": 1.3895907402038574,
                    "z": 0.06877303868532181
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.189188957214355,
                "transform": {
                    "location": {
                        "x": 3001.247314453125,
                        "y": 4263.798828125,
                        "z": 361.32049560546875
                    },
                    "rotation": {
                        "roll": 0.0002157843700842932,
                        "pitch": -0.5451924800872803,
                        "yaw": -170.81661987304688
                    }
                },
                "velocity": {
                    "x": -8.08387279510498,
                    "y": -1.3069186210632324,
                    "z": -0.07603572309017181
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.554333686828613,
                "transform": {
                    "location": {
                        "x": 2978.39794921875,
                        "y": 4263.39404296875,
                        "z": 361.11083984375
                    },
                    "rotation": {
                        "roll": 0.00037375095416791737,
                        "pitch": -0.5118065476417542,
                        "yaw": -170.80149841308594
                    }
                },
                "velocity": {
                    "x": -12.392292976379395,
                    "y": -2.007502317428589,
                    "z": -0.11091145128011703
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034714698791504,
                "transform": {
                    "location": {
                        "x": 2990.331787109375,
                        "y": 4272.111328125,
                        "z": 361.2391052246094
                    },
                    "rotation": {
                        "roll": -0.0009155318257398903,
                        "pitch": 0.5332260131835938,
                        "yaw": 9.191200256347656
                    }
                },
                "velocity": {
                    "x": 7.930911064147949,
                    "y": 1.2853020429611206,
                    "z": 0.07272045314311981
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031475067138672,
                "transform": {
                    "location": {
                        "x": 2993.442626953125,
                        "y": 4269.322265625,
                        "z": 361.25830078125
                    },
                    "rotation": {
                        "roll": -0.00036621178151108325,
                        "pitch": 0.5403977036476135,
                        "yaw": 9.190718650817871
                    }
                },
                "velocity": {
                    "x": 7.928050518035889,
                    "y": 1.2826794385910034,
                    "z": 0.07308561354875565
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.939663887023926,
                "transform": {
                    "location": {
                        "x": 2982.2470703125,
                        "y": 4260.7255859375,
                        "z": 361.1553039550781
                    },
                    "rotation": {
                        "roll": 8.237826841650531e-05,
                        "pitch": -0.8527490496635437,
                        "yaw": -170.58287048339844
                    }
                },
                "velocity": {
                    "x": -5.863625526428223,
                    "y": -0.9458310604095459,
                    "z": -0.053938888013362885
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.027200698852539,
                "transform": {
                    "location": {
                        "x": 2952.8916015625,
                        "y": 4259.267578125,
                        "z": 360.8945617675781
                    },
                    "rotation": {
                        "roll": 0.0008225524215959013,
                        "pitch": -0.44595667719841003,
                        "yaw": -170.81832885742188
                    }
                },
                "velocity": {
                    "x": -12.859585762023926,
                    "y": -2.0804853439331055,
                    "z": -0.10292360186576843
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.7138991355896,
                "transform": {
                    "location": {
                        "x": 3030.905517578125,
                        "y": 4278.677734375,
                        "z": 361.6255798339844
                    },
                    "rotation": {
                        "roll": 8.989323396235704e-05,
                        "pitch": 0.5091769099235535,
                        "yaw": 9.190262794494629
                    }
                },
                "velocity": {
                    "x": 5.640275001525879,
                    "y": 0.9125946760177612,
                    "z": 0.055783431977033615
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3032.600830078125,
                        "y": 4275.634765625,
                        "z": 361.63983154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0627492144703865,
                "transform": {
                    "location": {
                        "x": 2899.205810546875,
                        "y": 4247.3876953125,
                        "z": 360.4884948730469
                    },
                    "rotation": {
                        "roll": -0.00015258901112247258,
                        "pitch": -0.3964856266975403,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.00043294168426655233,
                    "y": -4.241690112394281e-05,
                    "z": 0.06274770945310593
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.384154319763184,
                "transform": {
                    "location": {
                        "x": 2924.23828125,
                        "y": 4254.62939453125,
                        "z": 360.6819763183594
                    },
                    "rotation": {
                        "roll": 0.0018964543705806136,
                        "pitch": -0.41488614678382874,
                        "yaw": -170.81886291503906
                    }
                },
                "velocity": {
                    "x": -13.21231460571289,
                    "y": -2.1356823444366455,
                    "z": -0.09585176408290863
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2040783017873764,
        "expert_target_speed": 7.9823421828991385,
        "target_point": [
            23.159990019261183,
            0.42983387253247995
        ],
        "target_point_next": [
            74.15753828403456,
            0.9357353625222995
        ]
    },
    "305": {
        "acceleration": [
            0.4675865173339844,
            0.06331920623779297,
            0.027812495827674866
        ],
        "angular_velocity": [
            -0.029262570664286613,
            0.2693537771701813,
            -2.936836004257202
        ],
        "forward_vector": [
            -0.9886653423309326,
            -0.1497664749622345,
            -0.010524078272283077
        ],
        "right_vector": [
            0.14977455139160156,
            -0.988720178604126,
            2.0771578419953585e-05
        ],
        "location": [
            2961.6796875,
            4257.71728515625,
            360.96514892578125
        ],
        "rotation": [
            -0.001190189621411264,
            -0.6029964089393616,
            -171.38612365722656
        ],
        "velocity": [
            -6.930202484130859,
            -1.053114414215088,
            -0.05693366378545761
        ],
        "speed": 7.00976151095607,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.76968765258789,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.988541603088379,
                "transform": {
                    "location": {
                        "x": 2907.84375,
                        "y": 4258.7265625,
                        "z": 360.5690002441406
                    },
                    "rotation": {
                        "roll": 0.0065117161720991135,
                        "pitch": 0.39946359395980835,
                        "yaw": 9.72991943359375
                    }
                },
                "velocity": {
                    "x": 7.876628398895264,
                    "y": 1.3312885761260986,
                    "z": 0.056513939052820206
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.79274845123291,
                "transform": {
                    "location": {
                        "x": 2911.471435546875,
                        "y": 4256.02783203125,
                        "z": 360.5910949707031
                    },
                    "rotation": {
                        "roll": 0.0038985549472272396,
                        "pitch": 0.41951704025268555,
                        "yaw": 9.621001243591309
                    }
                },
                "velocity": {
                    "x": 6.6988725662231445,
                    "y": 1.1244451999664307,
                    "z": 0.046509139239788055
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.329302787780762,
                "transform": {
                    "location": {
                        "x": 2999.687744140625,
                        "y": 4266.83837890625,
                        "z": 361.3087463378906
                    },
                    "rotation": {
                        "roll": 0.0010850527323782444,
                        "pitch": -0.5308218002319336,
                        "yaw": -170.79615783691406
                    }
                },
                "velocity": {
                    "x": -12.170276641845703,
                    "y": -1.9705140590667725,
                    "z": -0.11467726528644562
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049124717712402,
                "transform": {
                    "location": {
                        "x": 2948.78173828125,
                        "y": 4265.3876953125,
                        "z": 360.8785400390625
                    },
                    "rotation": {
                        "roll": 0.001617126865312457,
                        "pitch": 0.44905757904052734,
                        "yaw": 9.22159194946289
                    }
                },
                "velocity": {
                    "x": 7.945151329040527,
                    "y": 1.2881176471710205,
                    "z": 0.061129130423069
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.264688491821289,
                "transform": {
                    "location": {
                        "x": 2954.763427734375,
                        "y": 4263.0634765625,
                        "z": 360.9139404296875
                    },
                    "rotation": {
                        "roll": 0.00011621688463492319,
                        "pitch": 0.4517965018749237,
                        "yaw": 9.193572044372559
                    }
                },
                "velocity": {
                    "x": 8.158363342285156,
                    "y": 1.3197890520095825,
                    "z": 0.06581756472587585
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.375158309936523,
                "transform": {
                    "location": {
                        "x": 2999.195556640625,
                        "y": 4263.46728515625,
                        "z": 361.3011779785156
                    },
                    "rotation": {
                        "roll": 0.00022222730331122875,
                        "pitch": -0.5264573097229004,
                        "yaw": -170.8118896484375
                    }
                },
                "velocity": {
                    "x": -8.267353057861328,
                    "y": -1.3372914791107178,
                    "z": -0.07613062858581543
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.556571006774902,
                "transform": {
                    "location": {
                        "x": 2975.29931640625,
                        "y": 4262.892578125,
                        "z": 361.08306884765625
                    },
                    "rotation": {
                        "roll": 0.0010563692776486278,
                        "pitch": -0.5063150525093079,
                        "yaw": -170.7995147705078
                    }
                },
                "velocity": {
                    "x": -12.394770622253418,
                    "y": -2.006228446960449,
                    "z": -0.11039551347494125
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034968376159668,
                "transform": {
                    "location": {
                        "x": 2992.31494140625,
                        "y": 4272.43212890625,
                        "z": 361.2575988769531
                    },
                    "rotation": {
                        "roll": 0.00017662539903540164,
                        "pitch": 0.53367680311203,
                        "yaw": 9.21241283416748
                    }
                },
                "velocity": {
                    "x": 7.931298732757568,
                    "y": 1.2844457626342773,
                    "z": 0.0736067146062851
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.016453742980957,
                "transform": {
                    "location": {
                        "x": 2995.4228515625,
                        "y": 4269.642578125,
                        "z": 361.27679443359375
                    },
                    "rotation": {
                        "roll": -0.0010376011487096548,
                        "pitch": 0.5403499007225037,
                        "yaw": 9.193225860595703
                    }
                },
                "velocity": {
                    "x": 7.912919044494629,
                    "y": 1.2822060585021973,
                    "z": 0.07209479808807373
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.8366007804870605,
                "transform": {
                    "location": {
                        "x": 2980.858154296875,
                        "y": 4260.501953125,
                        "z": 361.14251708984375
                    },
                    "rotation": {
                        "roll": -0.007049547974020243,
                        "pitch": -0.8447850942611694,
                        "yaw": -170.42190551757812
                    }
                },
                "velocity": {
                    "x": -5.7606730461120605,
                    "y": -0.9369364976882935,
                    "z": -0.051990218460559845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.054524421691895,
                "transform": {
                    "location": {
                        "x": 2949.6787109375,
                        "y": 4258.74755859375,
                        "z": 360.8692932128906
                    },
                    "rotation": {
                        "roll": 0.0009429807541891932,
                        "pitch": -0.4400622248649597,
                        "yaw": -170.80377197265625
                    }
                },
                "velocity": {
                    "x": -12.88655948638916,
                    "y": -2.0850257873535156,
                    "z": -0.09924613684415817
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3032.342041015625,
                        "y": 4278.86279296875,
                        "z": 361.63922119140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3033.9970703125,
                        "y": 4275.8037109375,
                        "z": 361.6508483886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.05492793023586273,
                "transform": {
                    "location": {
                        "x": 2899.20556640625,
                        "y": 4247.3876953125,
                        "z": 360.5076599121094
                    },
                    "rotation": {
                        "roll": 0.0006154653965495527,
                        "pitch": -0.39578211307525635,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -0.00038286036578938365,
                    "y": -8.013100159587339e-05,
                    "z": 0.05492653697729111
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.388054847717285,
                "transform": {
                    "location": {
                        "x": 2920.934814453125,
                        "y": 4254.0947265625,
                        "z": 360.6579895019531
                    },
                    "rotation": {
                        "roll": 0.000491923070512712,
                        "pitch": -0.4131171405315399,
                        "yaw": -170.81361389160156
                    }
                },
                "velocity": {
                    "x": -13.216021537780762,
                    "y": -2.137202501296997,
                    "z": -0.09562366455793381
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22285296022891998,
        "expert_target_speed": 10.0,
        "target_point": [
            21.388113224455296,
            0.4328280540924263
        ],
        "target_point_next": [
            72.38557904508464,
            0.9469731787473155
        ]
    },
    "310": {
        "acceleration": [
            0.1494884490966797,
            -0.05562782287597656,
            -0.0017267465591430664
        ],
        "angular_velocity": [
            -0.11561062932014465,
            0.21863365173339844,
            3.5947816371917725
        ],
        "forward_vector": [
            -0.9883135557174683,
            -0.15214592218399048,
            -0.009382585994899273
        ],
        "right_vector": [
            0.15214985609054565,
            -0.9883573651313782,
            0.0002955978561658412
        ],
        "location": [
            2959.955322265625,
            4257.45263671875,
            360.9508056640625
        ],
        "rotation": [
            -0.016937255859375,
            -0.537590503692627,
            -171.24830627441406
        ],
        "velocity": [
            -6.873180389404297,
            -1.067052960395813,
            -0.05639512464404106
        ],
        "speed": 6.955516564970662,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.027225494384766,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.921459674835205,
                "transform": {
                    "location": {
                        "x": 2909.80419921875,
                        "y": 4259.05810546875,
                        "z": 360.5829162597656
                    },
                    "rotation": {
                        "roll": 0.0029589321929961443,
                        "pitch": 0.4026464521884918,
                        "yaw": 9.522921562194824
                    }
                },
                "velocity": {
                    "x": 7.8126678466796875,
                    "y": 1.3071179389953613,
                    "z": 0.056453388184309006
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.491350173950195,
                "transform": {
                    "location": {
                        "x": 2913.262939453125,
                        "y": 4256.32763671875,
                        "z": 360.6036682128906
                    },
                    "rotation": {
                        "roll": 0.003361218376085162,
                        "pitch": 0.4307253658771515,
                        "yaw": 9.458525657653809
                    }
                },
                "velocity": {
                    "x": 7.390320301055908,
                    "y": 1.2250409126281738,
                    "z": 0.052678946405649185
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.256360054016113,
                "transform": {
                    "location": {
                        "x": 2996.64794921875,
                        "y": 4266.345703125,
                        "z": 361.28033447265625
                    },
                    "rotation": {
                        "roll": 0.0002979830896947533,
                        "pitch": -0.530336856842041,
                        "yaw": -170.80751037597656
                    }
                },
                "velocity": {
                    "x": -12.09844970703125,
                    "y": -1.9577909708023071,
                    "z": -0.11368295550346375
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021759986877441,
                "transform": {
                    "location": {
                        "x": 2950.763427734375,
                        "y": 4265.70849609375,
                        "z": 360.89398193359375
                    },
                    "rotation": {
                        "roll": 0.00036185741191729903,
                        "pitch": 0.4429582357406616,
                        "yaw": 9.187721252441406
                    }
                },
                "velocity": {
                    "x": 7.918290615081787,
                    "y": 1.2828009128570557,
                    "z": 0.061095330864191055
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.960129261016846,
                "transform": {
                    "location": {
                        "x": 2956.760009765625,
                        "y": 4263.38623046875,
                        "z": 360.9300231933594
                    },
                    "rotation": {
                        "roll": 0.0003674672916531563,
                        "pitch": 0.44612061977386475,
                        "yaw": 9.192288398742676
                    }
                },
                "velocity": {
                    "x": 7.857571125030518,
                    "y": 1.2720506191253662,
                    "z": 0.06415895372629166
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.329314708709717,
                "transform": {
                    "location": {
                        "x": 2997.254638671875,
                        "y": 4263.15283203125,
                        "z": 361.283203125
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": -0.5466610193252563,
                        "yaw": -170.81015014648438
                    }
                },
                "velocity": {
                    "x": -7.234809875488281,
                    "y": -1.1712758541107178,
                    "z": -0.06704385578632355
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.586042404174805,
                "transform": {
                    "location": {
                        "x": 2972.19580078125,
                        "y": 4262.39013671875,
                        "z": 361.05560302734375
                    },
                    "rotation": {
                        "roll": 0.001600594725459814,
                        "pitch": -0.49359041452407837,
                        "yaw": -170.80276489257812
                    }
                },
                "velocity": {
                    "x": -12.42374038696289,
                    "y": -2.0117263793945312,
                    "z": -0.11001430451869965
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034335136413574,
                "transform": {
                    "location": {
                        "x": 2994.29736328125,
                        "y": 4272.75244140625,
                        "z": 361.276123046875
                    },
                    "rotation": {
                        "roll": 0.0006296220235526562,
                        "pitch": 0.5341958999633789,
                        "yaw": 9.187543869018555
                    }
                },
                "velocity": {
                    "x": 7.930610179901123,
                    "y": 1.2847973108291626,
                    "z": 0.07252851128578186
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031583786010742,
                "transform": {
                    "location": {
                        "x": 2997.403076171875,
                        "y": 4269.962890625,
                        "z": 361.2952575683594
                    },
                    "rotation": {
                        "roll": -0.0007018998148851097,
                        "pitch": 0.5403499007225037,
                        "yaw": 9.19556999206543
                    }
                },
                "velocity": {
                    "x": 7.928043842315674,
                    "y": 1.2834184169769287,
                    "z": 0.07280708104372025
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.8889594078063965,
                "transform": {
                    "location": {
                        "x": 2979.284423828125,
                        "y": 4260.244140625,
                        "z": 361.12347412109375
                    },
                    "rotation": {
                        "roll": 0.000606461544521153,
                        "pitch": -0.24383774399757385,
                        "yaw": -170.62892150878906
                    }
                },
                "velocity": {
                    "x": -6.799373626708984,
                    "y": -1.1056537628173828,
                    "z": -0.06168662756681442
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.007247924804688,
                "transform": {
                    "location": {
                        "x": 2946.464599609375,
                        "y": 4258.2275390625,
                        "z": 360.8446350097656
                    },
                    "rotation": {
                        "roll": 0.000983067904599011,
                        "pitch": -0.4295300841331482,
                        "yaw": -170.8082733154297
                    }
                },
                "velocity": {
                    "x": -12.839953422546387,
                    "y": -2.077094793319702,
                    "z": -0.09880288690328598
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3033.72802734375,
                        "y": 4279.041015625,
                        "z": 361.65240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3035.33837890625,
                        "y": 4276.00830078125,
                        "z": 361.66326904296875
                    },
                    "rotation": {
                        "roll": 3.3352074435555323e-09,
                        "pitch": 0.5506771206855774,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.007008311338722706,
                "transform": {
                    "location": {
                        "x": 2899.20556640625,
                        "y": 4247.3876953125,
                        "z": 360.51202392578125
                    },
                    "rotation": {
                        "roll": 0.0004771474050357938,
                        "pitch": -0.3953859806060791,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 2.9845907192793675e-05,
                    "y": 1.1947806342504919e-05,
                    "z": -0.007008237764239311
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.280232429504395,
                "transform": {
                    "location": {
                        "x": 2917.637451171875,
                        "y": 4253.56201171875,
                        "z": 360.63427734375
                    },
                    "rotation": {
                        "roll": 0.0016301434952765703,
                        "pitch": -0.43148350715637207,
                        "yaw": -170.813232421875
                    }
                },
                "velocity": {
                    "x": -13.109542846679688,
                    "y": -2.12021541595459,
                    "z": -0.09561304748058319
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22361326217651367,
        "expert_target_speed": 10.0,
        "target_point": [
            19.644536962467033,
            0.3821841601655347
        ],
        "target_point_next": [
            70.64309188092413,
            0.7736705131584092
        ]
    },
    "315": {
        "acceleration": [
            -0.06722450256347656,
            -0.08701562881469727,
            0.008498206734657288
        ],
        "angular_velocity": [
            -0.02425137162208557,
            0.1419869214296341,
            -2.4354283809661865
        ],
        "forward_vector": [
            -0.9880029559135437,
            -0.15419815480709076,
            -0.008548632264137268
        ],
        "right_vector": [
            0.15420058369636536,
            -0.988039493560791,
            0.0003770898038055748
        ],
        "location": [
            2958.23828125,
            4257.18408203125,
            360.9366455078125
        ],
        "rotation": [
            -0.02160644344985485,
            -0.48980650305747986,
            -171.12937927246094
        ],
        "velocity": [
            -6.868109703063965,
            -1.0843861103057861,
            -0.0562724806368351
        ],
        "speed": 6.9531880550971366,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.291418075561523,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.725019931793213,
                "transform": {
                    "location": {
                        "x": 2911.551513671875,
                        "y": 4259.349609375,
                        "z": 360.595703125
                    },
                    "rotation": {
                        "roll": 0.0031517825555056334,
                        "pitch": 0.37402796745300293,
                        "yaw": 9.44312572479248
                    }
                },
                "velocity": {
                    "x": 6.634847164154053,
                    "y": 1.096496343612671,
                    "z": 0.04887102171778679
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.703182220458984,
                "transform": {
                    "location": {
                        "x": 2915.29833984375,
                        "y": 4256.6650390625,
                        "z": 360.6181945800781
                    },
                    "rotation": {
                        "roll": 0.0030814155470579863,
                        "pitch": 0.44575178623199463,
                        "yaw": 9.340581893920898
                    }
                },
                "velocity": {
                    "x": 8.587286949157715,
                    "y": 1.4142671823501587,
                    "z": 0.06107494235038757
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.384743690490723,
                "transform": {
                    "location": {
                        "x": 2993.6064453125,
                        "y": 4265.853515625,
                        "z": 361.2518615722656
                    },
                    "rotation": {
                        "roll": -3.051701969525311e-05,
                        "pitch": -0.5252073407173157,
                        "yaw": -170.80320739746094
                    }
                },
                "velocity": {
                    "x": -12.225117683410645,
                    "y": -1.9786547422409058,
                    "z": -0.11531172692775726
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043259620666504,
                "transform": {
                    "location": {
                        "x": 2952.74560546875,
                        "y": 4266.029296875,
                        "z": 360.90966796875
                    },
                    "rotation": {
                        "roll": 0.0006262496463023126,
                        "pitch": 0.4588247537612915,
                        "yaw": 9.212143898010254
                    }
                },
                "velocity": {
                    "x": 7.9395952224731445,
                    "y": 1.2856194972991943,
                    "z": 0.06360765546560287
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.949706554412842,
                "transform": {
                    "location": {
                        "x": 2958.71826171875,
                        "y": 4263.70361328125,
                        "z": 360.9459533691406
                    },
                    "rotation": {
                        "roll": -0.00039673084393143654,
                        "pitch": 0.46228083968162537,
                        "yaw": 9.194388389587402
                    }
                },
                "velocity": {
                    "x": 7.847334861755371,
                    "y": 1.2700481414794922,
                    "z": 0.06443542242050171
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.353382110595703,
                "transform": {
                    "location": {
                        "x": 2995.597412109375,
                        "y": 4262.884765625,
                        "z": 361.26788330078125
                    },
                    "rotation": {
                        "roll": -0.00012206860992591828,
                        "pitch": -0.5519953966140747,
                        "yaw": -170.80722045898438
                    }
                },
                "velocity": {
                    "x": -6.271386623382568,
                    "y": -1.01567542552948,
                    "z": -0.05978792533278465
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.59306526184082,
                "transform": {
                    "location": {
                        "x": 2969.0908203125,
                        "y": 4261.8876953125,
                        "z": 361.0285949707031
                    },
                    "rotation": {
                        "roll": 0.0003111151163466275,
                        "pitch": -0.48977917432785034,
                        "yaw": -170.80728149414062
                    }
                },
                "velocity": {
                    "x": -12.430826187133789,
                    "y": -2.0120646953582764,
                    "z": -0.1070665717124939
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035213470458984,
                "transform": {
                    "location": {
                        "x": 2996.2802734375,
                        "y": 4273.0732421875,
                        "z": 361.2946472167969
                    },
                    "rotation": {
                        "roll": 0.00021101461607031524,
                        "pitch": 0.5333216190338135,
                        "yaw": 9.215343475341797
                    }
                },
                "velocity": {
                    "x": 7.9314703941345215,
                    "y": 1.2849308252334595,
                    "z": 0.07332717627286911
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015719413757324,
                "transform": {
                    "location": {
                        "x": 2999.383056640625,
                        "y": 4270.283203125,
                        "z": 361.31378173828125
                    },
                    "rotation": {
                        "roll": -0.00027465715538710356,
                        "pitch": 0.5397830009460449,
                        "yaw": 9.195967674255371
                    }
                },
                "velocity": {
                    "x": 7.912369728088379,
                    "y": 1.2809611558914185,
                    "z": 0.07281821966171265
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.157025337219238,
                "transform": {
                    "location": {
                        "x": 2977.419189453125,
                        "y": 4259.9404296875,
                        "z": 361.10595703125
                    },
                    "rotation": {
                        "roll": 0.0007234393851831555,
                        "pitch": -0.16555695235729218,
                        "yaw": -170.66641235351562
                    }
                },
                "velocity": {
                    "x": -8.051407814025879,
                    "y": -1.3063567876815796,
                    "z": -0.07296650856733322
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.9163236618042,
                "transform": {
                    "location": {
                        "x": 2943.24267578125,
                        "y": 4257.7060546875,
                        "z": 360.8201904296875
                    },
                    "rotation": {
                        "roll": 0.0006059060688130558,
                        "pitch": -0.4286831319332123,
                        "yaw": -170.8041229248047
                    }
                },
                "velocity": {
                    "x": -12.75009822845459,
                    "y": -2.063303232192993,
                    "z": -0.09580998122692108
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4697,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3035.0595703125,
                        "y": 4279.2548828125,
                        "z": 361.6652526855469
                    },
                    "rotation": {
                        "roll": 3.3352074435555323e-09,
                        "pitch": 0.5506771206855774,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4696,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3036.630859375,
                        "y": 4276.21533203125,
                        "z": 361.6756896972656
                    },
                    "rotation": {
                        "roll": 3.3352074435555323e-09,
                        "pitch": 0.5506771206855774,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00870538130402565,
                "transform": {
                    "location": {
                        "x": 2899.20556640625,
                        "y": 4247.3876953125,
                        "z": 360.5101013183594
                    },
                    "rotation": {
                        "roll": 0.0007415833533741534,
                        "pitch": -0.39526301622390747,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 3.880269650835544e-05,
                    "y": 1.6247304301941767e-05,
                    "z": -0.008705279789865017
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.47148323059082,
                "transform": {
                    "location": {
                        "x": 2914.446533203125,
                        "y": 4253.04541015625,
                        "z": 360.612060546875
                    },
                    "rotation": {
                        "roll": 0.0010422496125102043,
                        "pitch": -0.6261234283447266,
                        "yaw": -170.81210327148438
                    }
                },
                "velocity": {
                    "x": -12.31115436553955,
                    "y": -1.9913947582244873,
                    "z": -0.0877944752573967
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23158614337444305,
        "expert_target_speed": 10.0,
        "target_point": [
            17.907372184773006,
            0.34083920425520775
        ],
        "target_point_next": [
            68.90662983853967,
            0.6264685098006311
        ]
    },
    "320": {
        "acceleration": [
            -0.16907691955566406,
            -0.10024070739746094,
            0.018472746014595032
        ],
        "angular_velocity": [
            -0.020245786756277084,
            0.05504170060157776,
            3.5893044471740723
        ],
        "forward_vector": [
            -0.9875190258026123,
            -0.15729446709156036,
            -0.008034618571400642
        ],
        "right_vector": [
            0.1572961062192917,
            -0.9875513315200806,
            0.0004319508734624833
        ],
        "location": [
            2956.51708984375,
            4256.91064453125,
            360.922607421875
        ],
        "rotation": [
            -0.024749761447310448,
            -0.4603547155857086,
            -170.94981384277344
        ],
        "velocity": [
            -6.90246057510376,
            -1.108388066291809,
            -0.05607720836997032
        ],
        "speed": 6.9908859307215,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.55083656311035,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2877.3662109375,
                        "y": 4250.43896484375,
                        "z": 360.7469482421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3926538825035095,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.204349517822266,
                "transform": {
                    "location": {
                        "x": 2913.251708984375,
                        "y": 4259.6298828125,
                        "z": 360.60760498046875
                    },
                    "rotation": {
                        "roll": 0.0020622299052774906,
                        "pitch": 0.41099977493286133,
                        "yaw": 9.353649139404297
                    }
                },
                "velocity": {
                    "x": 7.109340667724609,
                    "y": 1.1650924682617188,
                    "z": 0.04983590170741081
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.18984603881836,
                "transform": {
                    "location": {
                        "x": 2917.375244140625,
                        "y": 4257.00537109375,
                        "z": 360.6334533691406
                    },
                    "rotation": {
                        "roll": 0.0027014566585421562,
                        "pitch": 0.40310409665107727,
                        "yaw": 9.432069778442383
                    }
                },
                "velocity": {
                    "x": 8.081856727600098,
                    "y": 1.3242520093917847,
                    "z": 0.05945194140076637
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.327146530151367,
                "transform": {
                    "location": {
                        "x": 2990.56494140625,
                        "y": 4265.36181640625,
                        "z": 361.22357177734375
                    },
                    "rotation": {
                        "roll": 0.0005500605329871178,
                        "pitch": -0.5301797389984131,
                        "yaw": -170.81875610351562
                    }
                },
                "velocity": {
                    "x": -12.168487548828125,
                    "y": -1.968084692955017,
                    "z": -0.11451701819896698
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034749984741211,
                "transform": {
                    "location": {
                        "x": 2954.72998046875,
                        "y": 4266.35009765625,
                        "z": 360.9255676269531
                    },
                    "rotation": {
                        "roll": -0.00021361703693401068,
                        "pitch": 0.45986977219581604,
                        "yaw": 9.17935562133789
                    }
                },
                "velocity": {
                    "x": 7.93131160736084,
                    "y": 1.2835191488265991,
                    "z": 0.06395606696605682
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.988325119018555,
                "transform": {
                    "location": {
                        "x": 2960.685302734375,
                        "y": 4264.02197265625,
                        "z": 360.9621276855469
                    },
                    "rotation": {
                        "roll": -0.0001831039844546467,
                        "pitch": 0.47237586975097656,
                        "yaw": 9.194720268249512
                    }
                },
                "velocity": {
                    "x": 7.885432720184326,
                    "y": 1.2763574123382568,
                    "z": 0.06479165703058243
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.77160120010376,
                "transform": {
                    "location": {
                        "x": 2994.00439453125,
                        "y": 4262.626953125,
                        "z": 361.2525634765625
                    },
                    "rotation": {
                        "roll": 0.0007399790920317173,
                        "pitch": -0.5233154296875,
                        "yaw": -170.80384826660156
                    }
                },
                "velocity": {
                    "x": -6.684377193450928,
                    "y": -1.0816456079483032,
                    "z": -0.061087243258953094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.401467323303223,
                "transform": {
                    "location": {
                        "x": 2965.998046875,
                        "y": 4261.38720703125,
                        "z": 361.0020751953125
                    },
                    "rotation": {
                        "roll": -3.052016472793184e-05,
                        "pitch": -0.48503902554512024,
                        "yaw": -170.80859375
                    }
                },
                "velocity": {
                    "x": -12.241765975952148,
                    "y": -1.9810832738876343,
                    "z": -0.10417380183935165
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03504467010498,
                "transform": {
                    "location": {
                        "x": 2998.262939453125,
                        "y": 4273.39404296875,
                        "z": 361.3131408691406
                    },
                    "rotation": {
                        "roll": 0.000794233928900212,
                        "pitch": 0.5333011150360107,
                        "yaw": 9.188628196716309
                    }
                },
                "velocity": {
                    "x": 7.931451797485352,
                    "y": 1.284000039100647,
                    "z": 0.07313087582588196
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031710624694824,
                "transform": {
                    "location": {
                        "x": 3001.363037109375,
                        "y": 4270.603515625,
                        "z": 361.3323059082031
                    },
                    "rotation": {
                        "roll": 0.00017710259999148548,
                        "pitch": 0.5427541136741638,
                        "yaw": 9.19965648651123
                    }
                },
                "velocity": {
                    "x": 7.928071022033691,
                    "y": 1.2839818000793457,
                    "z": 0.0738653764128685
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.0656156539917,
                "transform": {
                    "location": {
                        "x": 2975.27294921875,
                        "y": 4259.59228515625,
                        "z": 361.0875549316406
                    },
                    "rotation": {
                        "roll": 0.003245257306843996,
                        "pitch": -0.2613776624202728,
                        "yaw": -170.7775115966797
                    }
                },
                "velocity": {
                    "x": -8.94890022277832,
                    "y": -1.4478479623794556,
                    "z": -0.07945195585489273
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.520965576171875,
                "transform": {
                    "location": {
                        "x": 2940.12744140625,
                        "y": 4257.20166015625,
                        "z": 360.7970275878906
                    },
                    "rotation": {
                        "roll": -0.0003967258962802589,
                        "pitch": -0.4324602484703064,
                        "yaw": -170.8094024658203
                    }
                },
                "velocity": {
                    "x": -12.35973834991455,
                    "y": -2.000762701034546,
                    "z": -0.09163665771484375
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0034675353672355413,
                "transform": {
                    "location": {
                        "x": 2899.20556640625,
                        "y": 4247.3876953125,
                        "z": 360.5084533691406
                    },
                    "rotation": {
                        "roll": 0.0010531680891290307,
                        "pitch": -0.3953859806060791,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 2.158403367502615e-05,
                    "y": -2.9627848562086e-05,
                    "z": -0.0034673416521400213
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.287961959838867,
                "transform": {
                    "location": {
                        "x": 2911.537353515625,
                        "y": 4252.57470703125,
                        "z": 360.5920715332031
                    },
                    "rotation": {
                        "roll": 0.0003161363711114973,
                        "pitch": -0.8326136469841003,
                        "yaw": -170.80897521972656
                    }
                },
                "velocity": {
                    "x": -11.142767906188965,
                    "y": -1.8029148578643799,
                    "z": -0.07938450574874878
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23252412676811218,
        "expert_target_speed": 10.0,
        "target_point": [
            16.165576585472408,
            0.28542848042091995
        ],
        "target_point_next": [
            67.16547891553392,
            0.4112365073931503
        ]
    },
    "325": {
        "acceleration": [
            -0.3410530090332031,
            -0.17089366912841797,
            -0.004277825355529785
        ],
        "angular_velocity": [
            -0.04773777723312378,
            0.098971426486969,
            -2.095454454421997
        ],
        "forward_vector": [
            -0.9870990514755249,
            -0.1599268615245819,
            -0.007664485834538937
        ],
        "right_vector": [
            0.1599268615245819,
            -0.9871286749839783,
            0.0006173023721203208
        ],
        "location": [
            2954.78271484375,
            4256.62939453125,
            360.90863037109375
        ],
        "rotation": [
            -0.0353698655962944,
            -0.4391469955444336,
            -170.7970733642578
        ],
        "velocity": [
            -6.972753047943115,
            -1.1473373174667358,
            -0.05637231841683388
        ],
        "speed": 7.066517387486694,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.796058654785156,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2874.872314453125,
                        "y": 4253.32763671875,
                        "z": 360.7331848144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3962124288082123,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.63671875,
                        "y": 4250.64404296875,
                        "z": 360.5040283203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3889041244983673,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.675654411315918,
                "transform": {
                    "location": {
                        "x": 2915.118896484375,
                        "y": 4259.93603515625,
                        "z": 360.620849609375
                    },
                    "rotation": {
                        "roll": 0.0018329289741814137,
                        "pitch": 0.4251519441604614,
                        "yaw": 9.277445793151855
                    }
                },
                "velocity": {
                    "x": 7.575137138366699,
                    "y": 1.2369736433029175,
                    "z": 0.05352035537362099
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.066508293151855,
                "transform": {
                    "location": {
                        "x": 2919.37060546875,
                        "y": 4257.33154296875,
                        "z": 360.6481018066406
                    },
                    "rotation": {
                        "roll": 0.003496182383969426,
                        "pitch": 0.4025166928768158,
                        "yaw": 9.479418754577637
                    }
                },
                "velocity": {
                    "x": 7.960663318634033,
                    "y": 1.3012150526046753,
                    "z": 0.05687318742275238
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.133968353271484,
                "transform": {
                    "location": {
                        "x": 2987.528076171875,
                        "y": 4264.87060546875,
                        "z": 361.1951904296875
                    },
                    "rotation": {
                        "roll": 0.00050681660650298,
                        "pitch": -0.5332260131835938,
                        "yaw": -170.81350708007812
                    }
                },
                "velocity": {
                    "x": -11.977903366088867,
                    "y": -1.936571717262268,
                    "z": -0.11271527409553528
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.032586097717285,
                "transform": {
                    "location": {
                        "x": 2956.7119140625,
                        "y": 4266.67041015625,
                        "z": 360.9416198730469
                    },
                    "rotation": {
                        "roll": -0.0005798343918286264,
                        "pitch": 0.46108555793762207,
                        "yaw": 9.211999893188477
                    }
                },
                "velocity": {
                    "x": 7.929032325744629,
                    "y": 1.2840110063552856,
                    "z": 0.06486095488071442
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.037425994873047,
                "transform": {
                    "location": {
                        "x": 2962.664306640625,
                        "y": 4264.34228515625,
                        "z": 360.9786376953125
                    },
                    "rotation": {
                        "roll": 0.0004238196706864983,
                        "pitch": 0.47322961688041687,
                        "yaw": 9.194564819335938
                    }
                },
                "velocity": {
                    "x": 7.933890342712402,
                    "y": 1.2842456102371216,
                    "z": 0.06569564342498779
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.634918212890625,
                "transform": {
                    "location": {
                        "x": 2992.18701171875,
                        "y": 4262.3330078125,
                        "z": 361.2355651855469
                    },
                    "rotation": {
                        "roll": -0.000671389396302402,
                        "pitch": -0.5094296336174011,
                        "yaw": -170.80386352539062
                    }
                },
                "velocity": {
                    "x": -7.536479949951172,
                    "y": -1.2200521230697632,
                    "z": -0.07012811303138733
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.010394096374512,
                "transform": {
                    "location": {
                        "x": 2962.989013671875,
                        "y": 4260.900390625,
                        "z": 360.9768371582031
                    },
                    "rotation": {
                        "roll": -0.00012206729297759011,
                        "pitch": -0.4837617874145508,
                        "yaw": -170.80917358398438
                    }
                },
                "velocity": {
                    "x": -11.855914115905762,
                    "y": -1.91755211353302,
                    "z": -0.09936816245317459
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033920288085938,
                "transform": {
                    "location": {
                        "x": 3000.245849609375,
                        "y": 4273.71435546875,
                        "z": 361.3316650390625
                    },
                    "rotation": {
                        "roll": 0.0016442995984107256,
                        "pitch": 0.5353024005889893,
                        "yaw": 9.208478927612305
                    }
                },
                "velocity": {
                    "x": 7.930363655090332,
                    "y": 1.283647894859314,
                    "z": 0.07382944226264954
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015645980834961,
                "transform": {
                    "location": {
                        "x": 3003.343017578125,
                        "y": 4270.923828125,
                        "z": 361.3508605957031
                    },
                    "rotation": {
                        "roll": 0.0011746856616809964,
                        "pitch": 0.5456774234771729,
                        "yaw": 9.196491241455078
                    }
                },
                "velocity": {
                    "x": 7.912267208099365,
                    "y": 1.281014323234558,
                    "z": 0.0749087706208229
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.389749526977539,
                "transform": {
                    "location": {
                        "x": 2973.1103515625,
                        "y": 4259.24169921875,
                        "z": 361.07122802734375
                    },
                    "rotation": {
                        "roll": 0.0018449118360877037,
                        "pitch": -0.6077843308448792,
                        "yaw": -170.83009338378906
                    }
                },
                "velocity": {
                    "x": -8.282007217407227,
                    "y": -1.3382493257522583,
                    "z": -0.0730823278427124
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.78333854675293,
                "transform": {
                    "location": {
                        "x": 2937.134521484375,
                        "y": 4256.71728515625,
                        "z": 360.77490234375
                    },
                    "rotation": {
                        "roll": 0.00014386184921022505,
                        "pitch": -0.44482287764549255,
                        "yaw": -170.79183959960938
                    }
                },
                "velocity": {
                    "x": -11.631322860717773,
                    "y": -1.8845945596694946,
                    "z": -0.08781750500202179
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001961096888408065,
                "transform": {
                    "location": {
                        "x": 2899.20556640625,
                        "y": 4247.3876953125,
                        "z": 360.5085144042969
                    },
                    "rotation": {
                        "roll": 0.0005075404769740999,
                        "pitch": -0.39544743299484253,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -3.495596320135519e-05,
                    "y": -2.197235698986333e-05,
                    "z": 0.001960662193596363
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.278761863708496,
                "transform": {
                    "location": {
                        "x": 2909.0126953125,
                        "y": 4252.166015625,
                        "z": 360.57513427734375
                    },
                    "rotation": {
                        "roll": 0.001162893371656537,
                        "pitch": -1.11569082736969,
                        "yaw": -170.811279296875
                    }
                },
                "velocity": {
                    "x": -9.159449577331543,
                    "y": -1.4817959070205688,
                    "z": -0.0648018941283226
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21872957050800323,
        "expert_target_speed": 10.0,
        "target_point": [
            14.409249143953204,
            0.2420745451706896
        ],
        "target_point_next": [
            65.40930563077936,
            0.23189240365239883
        ]
    },
    "330": {
        "acceleration": [
            -0.4155158996582031,
            -0.1819014549255371,
            0.0004087388515472412
        ],
        "angular_velocity": [
            -0.04762311652302742,
            0.09545515477657318,
            3.832052707672119
        ],
        "forward_vector": [
            -0.9863847494125366,
            -0.16429543495178223,
            -0.007219728082418442
        ],
        "right_vector": [
            0.16429445147514343,
            -0.9864110946655273,
            0.0007318174466490746
        ],
        "location": [
            2953.027099609375,
            4256.33740234375,
            360.89459228515625
        ],
        "rotation": [
            -0.0419311448931694,
            -0.4136635661125183,
            -170.54344177246094
        ],
        "velocity": [
            -7.070479393005371,
            -1.1922813653945923,
            -0.05662692338228226
        ],
        "speed": 7.170300809671851,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.018604278564453,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2876.887939453125,
                        "y": 4253.65380859375,
                        "z": 360.46435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3889041244983673,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2880.690185546875,
                        "y": 4250.97607421875,
                        "z": 360.4215087890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3889041244983673,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.72293758392334,
                "transform": {
                    "location": {
                        "x": 2917.237548828125,
                        "y": 4260.28173828125,
                        "z": 360.63592529296875
                    },
                    "rotation": {
                        "roll": 0.0009493738180026412,
                        "pitch": 0.43691352009773254,
                        "yaw": 9.237109184265137
                    }
                },
                "velocity": {
                    "x": 8.609627723693848,
                    "y": 1.4000452756881714,
                    "z": 0.061886269599199295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.73408842086792,
                "transform": {
                    "location": {
                        "x": 2921.145263671875,
                        "y": 4257.62255859375,
                        "z": 360.6611328125
                    },
                    "rotation": {
                        "roll": 0.001377846929244697,
                        "pitch": 0.37674638628959656,
                        "yaw": 9.371004104614258
                    }
                },
                "velocity": {
                    "x": 6.646190643310547,
                    "y": 1.0834003686904907,
                    "z": 0.048438794910907745
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.049189567565918,
                "transform": {
                    "location": {
                        "x": 2984.5625,
                        "y": 4264.390625,
                        "z": 361.1676330566406
                    },
                    "rotation": {
                        "roll": 0.00026295354473404586,
                        "pitch": -0.5309447050094604,
                        "yaw": -170.82366943359375
                    }
                },
                "velocity": {
                    "x": -11.894285202026367,
                    "y": -1.9226431846618652,
                    "z": -0.11132296919822693
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038583755493164,
                "transform": {
                    "location": {
                        "x": 2958.6953125,
                        "y": 4266.99072265625,
                        "z": 360.9578552246094
                    },
                    "rotation": {
                        "roll": 0.0002718127507250756,
                        "pitch": 0.47278568148612976,
                        "yaw": 9.184782028198242
                    }
                },
                "velocity": {
                    "x": 7.934967041015625,
                    "y": 1.2848865985870361,
                    "z": 0.06469867378473282
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.986763000488281,
                "transform": {
                    "location": {
                        "x": 2964.6416015625,
                        "y": 4264.662109375,
                        "z": 360.99517822265625
                    },
                    "rotation": {
                        "roll": -0.000640873156953603,
                        "pitch": 0.48193129897117615,
                        "yaw": 9.194658279418945
                    }
                },
                "velocity": {
                    "x": 7.883857727050781,
                    "y": 1.2761107683181763,
                    "z": 0.06863798201084137
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.927081108093262,
                "transform": {
                    "location": {
                        "x": 2990.12158203125,
                        "y": 4261.99853515625,
                        "z": 361.21624755859375
                    },
                    "rotation": {
                        "roll": 1.6946052710409276e-05,
                        "pitch": -0.5008440613746643,
                        "yaw": -170.8045654296875
                    }
                },
                "velocity": {
                    "x": -8.81198501586914,
                    "y": -1.4265522956848145,
                    "z": -0.08150111883878708
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.245254516601562,
                "transform": {
                    "location": {
                        "x": 2960.005859375,
                        "y": 4260.41796875,
                        "z": 360.951904296875
                    },
                    "rotation": {
                        "roll": -0.00015258367056958377,
                        "pitch": -0.46344196796417236,
                        "yaw": -170.80868530273438
                    }
                },
                "velocity": {
                    "x": -12.087625503540039,
                    "y": -1.9559578895568848,
                    "z": -0.09894779324531555
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034801483154297,
                "transform": {
                    "location": {
                        "x": 3002.228759765625,
                        "y": 4274.03466796875,
                        "z": 361.3502197265625
                    },
                    "rotation": {
                        "roll": 0.00029609582270495594,
                        "pitch": 0.5397283434867859,
                        "yaw": 9.186339378356934
                    }
                },
                "velocity": {
                    "x": 7.931099891662598,
                    "y": 1.2845150232315063,
                    "z": 0.07557405531406403
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032360076904297,
                "transform": {
                    "location": {
                        "x": 3005.323486328125,
                        "y": 4271.244140625,
                        "z": 361.36956787109375
                    },
                    "rotation": {
                        "roll": 0.0005149756325408816,
                        "pitch": 0.5462511777877808,
                        "yaw": 9.200056076049805
                    }
                },
                "velocity": {
                    "x": 7.928671836853027,
                    "y": 1.2842262983322144,
                    "z": 0.07569534331560135
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.351044654846191,
                "transform": {
                    "location": {
                        "x": 2971.5166015625,
                        "y": 4258.98291015625,
                        "z": 361.06243896484375
                    },
                    "rotation": {
                        "roll": 0.010142234154045582,
                        "pitch": -1.2478276491165161,
                        "yaw": -171.13287353515625
                    }
                },
                "velocity": {
                    "x": -5.283082962036133,
                    "y": -0.8488881587982178,
                    "z": -0.045862067490816116
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.038013458251953,
                "transform": {
                    "location": {
                        "x": 2934.2099609375,
                        "y": 4256.24365234375,
                        "z": 360.7528076171875
                    },
                    "rotation": {
                        "roll": -0.0005188013892620802,
                        "pitch": -0.4188203513622284,
                        "yaw": -170.79603576660156
                    }
                },
                "velocity": {
                    "x": -11.882670402526855,
                    "y": -1.9256328344345093,
                    "z": -0.08848016709089279
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.4716620575636625e-05,
                "transform": {
                    "location": {
                        "x": 2899.20556640625,
                        "y": 4247.3876953125,
                        "z": 360.5086364746094
                    },
                    "rotation": {
                        "roll": 0.0004511567240115255,
                        "pitch": -0.3957206606864929,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -1.677356704021804e-05,
                    "y": -1.9776542103500105e-05,
                    "z": 2.3082015104591846e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.604963302612305,
                "transform": {
                    "location": {
                        "x": 2906.839111328125,
                        "y": 4251.814453125,
                        "z": 360.55908203125
                    },
                    "rotation": {
                        "roll": 0.001151088741607964,
                        "pitch": -0.8997817635536194,
                        "yaw": -170.80776977539062
                    }
                },
                "velocity": {
                    "x": -8.494258880615234,
                    "y": -1.3745174407958984,
                    "z": -0.06053449958562851
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.19456523656845093,
        "expert_target_speed": 10.0,
        "target_point": [
            12.630447956810102,
            0.17871926830939433
        ],
        "target_point_next": [
            63.629959845658874,
            -0.0571884141358634
        ]
    },
    "335": {
        "acceleration": [
            -0.28194427490234375,
            -0.1687765121459961,
            -0.005026087164878845
        ],
        "angular_velocity": [
            0.05271708965301514,
            -0.016152560710906982,
            -1.9833595752716064
        ],
        "forward_vector": [
            -0.9858065247535706,
            -0.16773587465286255,
            -0.007085621356964111
        ],
        "right_vector": [
            0.16773447394371033,
            -0.9858319163322449,
            0.0007957324269227684
        ],
        "location": [
            2951.246826171875,
            4256.0341796875,
            360.8806457519531
        ],
        "rotation": [
            -0.0455932579934597,
            -0.40597960352897644,
            -170.3435516357422
        ],
        "velocity": [
            -7.159493923187256,
            -1.2364544868469238,
            -0.05644961819052696
        ],
        "speed": 7.265478162805194,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.215049743652344,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.943359375,
                        "y": 4253.98583984375,
                        "z": 360.4266662597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3889041244983673,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.998428821563721,
                "transform": {
                    "location": {
                        "x": 2882.705810546875,
                        "y": 4251.30126953125,
                        "z": 360.41021728515625
                    },
                    "rotation": {
                        "roll": -0.0020141610875725746,
                        "pitch": 0.2501693367958069,
                        "yaw": 9.197792053222656
                    }
                },
                "velocity": {
                    "x": 6.908253192901611,
                    "y": 1.1197947263717651,
                    "z": -0.010308542288839817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.138593673706055,
                "transform": {
                    "location": {
                        "x": 2919.3046875,
                        "y": 4260.61669921875,
                        "z": 360.6512451171875
                    },
                    "rotation": {
                        "roll": 0.0024960811715573072,
                        "pitch": 0.39950457215309143,
                        "yaw": 9.367101669311523
                    }
                },
                "velocity": {
                    "x": 8.032892227172852,
                    "y": 1.3060481548309326,
                    "z": 0.05981415510177612
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.068965435028076,
                "transform": {
                    "location": {
                        "x": 2922.828369140625,
                        "y": 4257.8974609375,
                        "z": 360.6731262207031
                    },
                    "rotation": {
                        "roll": 0.001478284248150885,
                        "pitch": 0.41457879543304443,
                        "yaw": 9.25567626953125
                    }
                },
                "velocity": {
                    "x": 6.977524280548096,
                    "y": 1.1321965456008911,
                    "z": 0.050581224262714386
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.980283737182617,
                "transform": {
                    "location": {
                        "x": 2981.591552734375,
                        "y": 4263.91064453125,
                        "z": 361.1401062011719
                    },
                    "rotation": {
                        "roll": 0.0001721092703519389,
                        "pitch": -0.5237115621566772,
                        "yaw": -170.81246948242188
                    }
                },
                "velocity": {
                    "x": -11.826211929321289,
                    "y": -1.9119876623153687,
                    "z": -0.11046811938285828
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033218383789062,
                "transform": {
                    "location": {
                        "x": 2960.678466796875,
                        "y": 4267.3115234375,
                        "z": 360.9742126464844
                    },
                    "rotation": {
                        "roll": -0.0005798354977741838,
                        "pitch": 0.47394680976867676,
                        "yaw": 9.215313911437988
                    }
                },
                "velocity": {
                    "x": 7.929592132568359,
                    "y": 1.2845131158828735,
                    "z": 0.06469150632619858
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.012406349182129,
                "transform": {
                    "location": {
                        "x": 2966.615478515625,
                        "y": 4264.9814453125,
                        "z": 361.01202392578125
                    },
                    "rotation": {
                        "roll": -0.00012206396058900282,
                        "pitch": 0.48380959033966064,
                        "yaw": 9.19467830657959
                    }
                },
                "velocity": {
                    "x": 7.909173011779785,
                    "y": 1.2802414894104004,
                    "z": 0.06791223585605621
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.261765480041504,
                "transform": {
                    "location": {
                        "x": 2987.9755859375,
                        "y": 4261.6513671875,
                        "z": 361.1965026855469
                    },
                    "rotation": {
                        "roll": 0.00021955616830382496,
                        "pitch": -0.5360400676727295,
                        "yaw": -170.80728149414062
                    }
                },
                "velocity": {
                    "x": -8.1554536819458,
                    "y": -1.3188930749893188,
                    "z": -0.07663972675800323
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.115796089172363,
                "transform": {
                    "location": {
                        "x": 2957.00048828125,
                        "y": 4259.931640625,
                        "z": 360.9273681640625
                    },
                    "rotation": {
                        "roll": 3.660337461042218e-05,
                        "pitch": -0.45730847120285034,
                        "yaw": -170.8081512451172
                    }
                },
                "velocity": {
                    "x": -11.959844589233398,
                    "y": -1.9352744817733765,
                    "z": -0.09661725908517838
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035428047180176,
                "transform": {
                    "location": {
                        "x": 3004.211181640625,
                        "y": 4274.35693359375,
                        "z": 361.3689880371094
                    },
                    "rotation": {
                        "roll": -0.0007629405008628964,
                        "pitch": 0.5390931367874146,
                        "yaw": 9.221309661865234
                    }
                },
                "velocity": {
                    "x": 7.93153715133667,
                    "y": 1.2857123613357544,
                    "z": 0.07596595585346222
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015616416931152,
                "transform": {
                    "location": {
                        "x": 3007.303466796875,
                        "y": 4271.564453125,
                        "z": 361.3882751464844
                    },
                    "rotation": {
                        "roll": -0.0003662121307570487,
                        "pitch": 0.545554518699646,
                        "yaw": 9.200361251831055
                    }
                },
                "velocity": {
                    "x": 7.912156581878662,
                    "y": 1.281489372253418,
                    "z": 0.07528657466173172
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.045340538024902,
                "transform": {
                    "location": {
                        "x": 2970.1162109375,
                        "y": 4258.7587890625,
                        "z": 361.0445251464844
                    },
                    "rotation": {
                        "roll": 0.0008219482260756195,
                        "pitch": -0.5239847898483276,
                        "yaw": -171.02398681640625
                    }
                },
                "velocity": {
                    "x": -5.9685235023498535,
                    "y": -0.9593520760536194,
                    "z": -0.050131168216466904
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.606985092163086,
                "transform": {
                    "location": {
                        "x": 2931.163330078125,
                        "y": 4255.75,
                        "z": 360.7300720214844
                    },
                    "rotation": {
                        "roll": -0.0005798365455120802,
                        "pitch": -0.4016697406768799,
                        "yaw": -170.79513549804688
                    }
                },
                "velocity": {
                    "x": -12.444428443908691,
                    "y": -2.0158896446228027,
                    "z": -0.091903455555439
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005907347076572478,
                "transform": {
                    "location": {
                        "x": 2899.20556640625,
                        "y": 4247.3876953125,
                        "z": 360.5086364746094
                    },
                    "rotation": {
                        "roll": 0.0004511567240115255,
                        "pitch": -0.3957206606864929,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -2.4465620299451984e-05,
                    "y": 2.065459284494864e-06,
                    "z": 0.0005902242264710367
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2882.3798828125,
                        "y": 4244.6650390625,
                        "z": 360.45318603515625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.250616073608398,
                "transform": {
                    "location": {
                        "x": 2904.639892578125,
                        "y": 4251.45849609375,
                        "z": 360.5418395996094
                    },
                    "rotation": {
                        "roll": 0.00090603536227718,
                        "pitch": -0.4244074523448944,
                        "yaw": -170.8080596923828
                    }
                },
                "velocity": {
                    "x": -9.131600379943848,
                    "y": -1.4777486324310303,
                    "z": -0.06351518630981445
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1740327775478363,
        "expert_target_speed": 0,
        "target_point": [
            10.825082841801331,
            0.13434699200350364
        ],
        "target_point_next": [
            61.82346123187957,
            -0.27949708233536263
        ]
    },
    "340": {
        "acceleration": [
            -0.05675315856933594,
            -0.13016462326049805,
            -0.005215108394622803
        ],
        "angular_velocity": [
            -0.00687283743172884,
            -0.05222364142537117,
            3.848585605621338
        ],
        "forward_vector": [
            -0.9850321412086487,
            -0.17221668362617493,
            -0.007293873932212591
        ],
        "right_vector": [
            0.17221511900424957,
            -0.9850590229034424,
            0.0008452647598460317
        ],
        "location": [
            2949.450927734375,
            4255.72119140625,
            360.86669921875
        ],
        "rotation": [
            -0.048431396484375,
            -0.41791191697120667,
            -170.0830078125
        ],
        "velocity": [
            -7.194654941558838,
            -1.2722212076187134,
            -0.05619584023952484
        ],
        "speed": 7.306271725662263,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.394567489624023,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.988403797149658,
                "transform": {
                    "location": {
                        "x": 2880.98583984375,
                        "y": 4254.3193359375,
                        "z": 360.3952941894531
                    },
                    "rotation": {
                        "roll": -0.02606201171875,
                        "pitch": 0.36709532141685486,
                        "yaw": 9.285649299621582
                    }
                },
                "velocity": {
                    "x": 7.870100975036621,
                    "y": 1.3687565326690674,
                    "z": 0.051141176372766495
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.657743453979492,
                "transform": {
                    "location": {
                        "x": 2884.377685546875,
                        "y": 4251.58251953125,
                        "z": 360.41143798828125
                    },
                    "rotation": {
                        "roll": -0.01651000790297985,
                        "pitch": 0.2913621962070465,
                        "yaw": 9.563642501831055
                    }
                },
                "velocity": {
                    "x": 6.562428951263428,
                    "y": 1.122262954711914,
                    "z": 0.02443142794072628
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.617080211639404,
                "transform": {
                    "location": {
                        "x": 2921.28466796875,
                        "y": 4260.93798828125,
                        "z": 360.6656799316406
                    },
                    "rotation": {
                        "roll": 0.001311848289333284,
                        "pitch": 0.3989444971084595,
                        "yaw": 9.426584243774414
                    }
                },
                "velocity": {
                    "x": 7.5183587074279785,
                    "y": 1.2211434841156006,
                    "z": 0.05480003356933594
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.731575012207031,
                "transform": {
                    "location": {
                        "x": 2924.6806640625,
                        "y": 4258.1982421875,
                        "z": 360.6863098144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.43639442324638367,
                        "yaw": 9.1962251663208
                    }
                },
                "velocity": {
                    "x": 7.632032871246338,
                    "y": 1.2353788614273071,
                    "z": 0.0562535859644413
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.16488265991211,
                "transform": {
                    "location": {
                        "x": 2978.608154296875,
                        "y": 4263.42822265625,
                        "z": 361.1127014160156
                    },
                    "rotation": {
                        "roll": 0.0009224917157553136,
                        "pitch": -0.5065336227416992,
                        "yaw": -170.82015991210938
                    }
                },
                "velocity": {
                    "x": -12.008472442626953,
                    "y": -1.9415076971054077,
                    "z": -0.10715840756893158
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0350341796875,
                "transform": {
                    "location": {
                        "x": 2962.660888671875,
                        "y": 4267.63330078125,
                        "z": 360.99072265625
                    },
                    "rotation": {
                        "roll": -0.0008239736780524254,
                        "pitch": 0.47903528809547424,
                        "yaw": 9.19566822052002
                    }
                },
                "velocity": {
                    "x": 7.931185245513916,
                    "y": 1.2859344482421875,
                    "z": 0.06670455634593964
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.984310150146484,
                "transform": {
                    "location": {
                        "x": 2968.589111328125,
                        "y": 4265.30029296875,
                        "z": 361.0290832519531
                    },
                    "rotation": {
                        "roll": -0.00021362127154134214,
                        "pitch": 0.48953330516815186,
                        "yaw": 9.196216583251953
                    }
                },
                "velocity": {
                    "x": 7.881502628326416,
                    "y": 1.2753196954727173,
                    "z": 0.06843554973602295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.061915397644043,
                "transform": {
                    "location": {
                        "x": 2986.091064453125,
                        "y": 4261.34619140625,
                        "z": 361.1790466308594
                    },
                    "rotation": {
                        "roll": -0.0004577640211209655,
                        "pitch": -0.553067684173584,
                        "yaw": -170.81072998046875
                    }
                },
                "velocity": {
                    "x": -6.970980167388916,
                    "y": -1.1277542114257812,
                    "z": -0.06525211781263351
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.281105041503906,
                "transform": {
                    "location": {
                        "x": 2953.9755859375,
                        "y": 4259.4423828125,
                        "z": 360.9031066894531
                    },
                    "rotation": {
                        "roll": -0.00036621326580643654,
                        "pitch": -0.4461957514286041,
                        "yaw": -170.8082733154297
                    }
                },
                "velocity": {
                    "x": -12.123043060302734,
                    "y": -1.9617054462432861,
                    "z": -0.09533479809761047
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033797264099121,
                "transform": {
                    "location": {
                        "x": 3006.194091796875,
                        "y": 4274.67822265625,
                        "z": 361.3877258300781
                    },
                    "rotation": {
                        "roll": 0.0007827815134078264,
                        "pitch": 0.5384920835494995,
                        "yaw": 9.190282821655273
                    }
                },
                "velocity": {
                    "x": 7.930263996124268,
                    "y": 1.2834036350250244,
                    "z": 0.07538625597953796
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031641006469727,
                "transform": {
                    "location": {
                        "x": 3009.283447265625,
                        "y": 4271.884765625,
                        "z": 361.406982421875
                    },
                    "rotation": {
                        "roll": -0.0016479513142257929,
                        "pitch": 0.5465790033340454,
                        "yaw": 9.203140258789062
                    }
                },
                "velocity": {
                    "x": 7.927640914916992,
                    "y": 1.2860583066940308,
                    "z": 0.07627978920936584
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.252859592437744,
                "transform": {
                    "location": {
                        "x": 2968.4658203125,
                        "y": 4258.494140625,
                        "z": 361.027099609375
                    },
                    "rotation": {
                        "roll": -0.005218505393713713,
                        "pitch": -0.11157113313674927,
                        "yaw": -170.8621368408203
                    }
                },
                "velocity": {
                    "x": -7.15972375869751,
                    "y": -1.1569733619689941,
                    "z": -0.06113239750266075
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.77706527709961,
                "transform": {
                    "location": {
                        "x": 2928.135498046875,
                        "y": 4255.25927734375,
                        "z": 360.70806884765625
                    },
                    "rotation": {
                        "roll": 0.00035189822665415704,
                        "pitch": -0.4344751536846161,
                        "yaw": -170.80661010742188
                    }
                },
                "velocity": {
                    "x": -11.625375747680664,
                    "y": -1.8821338415145874,
                    "z": -0.08640897274017334
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.09295463562011719,
                "transform": {
                    "location": {
                        "x": 2899.197998046875,
                        "y": 4247.38623046875,
                        "z": 360.5085144042969
                    },
                    "rotation": {
                        "roll": 0.0004613180353771895,
                        "pitch": -0.379942923784256,
                        "yaw": -170.80593872070312
                    }
                },
                "velocity": {
                    "x": -0.09146691113710403,
                    "y": -0.016545932739973068,
                    "z": -0.0007750511285848916
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.16767896711826324,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.4006652832031
                    },
                    "rotation": {
                        "roll": -6.103622581576928e-05,
                        "pitch": -0.3906185030937195,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.001111479476094246,
                    "y": 0.00019421598699409515,
                    "z": -0.1676751673221588
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.935654640197754,
                "transform": {
                    "location": {
                        "x": 2902.3642578125,
                        "y": 4251.09033203125,
                        "z": 360.5260009765625
                    },
                    "rotation": {
                        "roll": -0.0002746563113760203,
                        "pitch": -0.4379926919937134,
                        "yaw": -170.8042755126953
                    }
                },
                "velocity": {
                    "x": -8.820602416992188,
                    "y": -1.4279223680496216,
                    "z": -0.06270318478345871
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.14604046940803528,
        "expert_target_speed": 0,
        "target_point": [
            9.00261393733186,
            0.08610231885111985
        ],
        "target_point_next": [
            59.99858330779786,
            -0.55963238050985
        ]
    },
    "345": {
        "acceleration": [
            0.10788917541503906,
            -0.12041330337524414,
            -0.006290152668952942
        ],
        "angular_velocity": [
            0.01896836794912815,
            -0.030633660033345222,
            -1.9504770040512085
        ],
        "forward_vector": [
            -0.9844083189964294,
            -0.17574021220207214,
            -0.0074493191204965115
        ],
        "right_vector": [
            0.1757383495569229,
            -0.9844364523887634,
            0.0009107754449360073
        ],
        "location": [
            2947.652099609375,
            4255.39990234375,
            360.8529357910156
        ],
        "rotation": [
            -0.052185047417879105,
            -0.42681849002838135,
            -169.8779754638672
        ],
        "velocity": [
            -7.188048362731934,
            -1.301957368850708,
            -0.056486282497644424
        ],
        "speed": 7.305007341219986,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.569905281066895,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.167238235473633,
                "transform": {
                    "location": {
                        "x": 2882.980224609375,
                        "y": 4254.65771484375,
                        "z": 360.42913818359375
                    },
                    "rotation": {
                        "roll": -0.00659180199727416,
                        "pitch": 0.3817460834980011,
                        "yaw": 9.653532981872559
                    }
                },
                "velocity": {
                    "x": 8.04845142364502,
                    "y": 1.3831931352615356,
                    "z": 0.11392337828874588
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.848270416259766,
                "transform": {
                    "location": {
                        "x": 2886.04296875,
                        "y": 4251.87060546875,
                        "z": 360.4206237792969
                    },
                    "rotation": {
                        "roll": -0.008239748887717724,
                        "pitch": 0.36850234866142273,
                        "yaw": 9.808298110961914
                    }
                },
                "velocity": {
                    "x": 6.746736526489258,
                    "y": 1.174146056175232,
                    "z": 0.04160725325345993
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.76378059387207,
                "transform": {
                    "location": {
                        "x": 2923.00341796875,
                        "y": 4261.21826171875,
                        "z": 360.6783447265625
                    },
                    "rotation": {
                        "roll": 0.0017985311569646,
                        "pitch": 0.38405469059944153,
                        "yaw": 9.330244064331055
                    }
                },
                "velocity": {
                    "x": 6.676241397857666,
                    "y": 1.0835838317871094,
                    "z": 0.04876131936907768
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.751742362976074,
                "transform": {
                    "location": {
                        "x": 2926.757080078125,
                        "y": 4258.5341796875,
                        "z": 360.70147705078125
                    },
                    "rotation": {
                        "roll": -0.0017394975293427706,
                        "pitch": 0.4509495496749878,
                        "yaw": 9.092480659484863
                    }
                },
                "velocity": {
                    "x": 8.63974666595459,
                    "y": 1.3941314220428467,
                    "z": 0.06455659866333008
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.995355606079102,
                "transform": {
                    "location": {
                        "x": 2975.630615234375,
                        "y": 4262.94677734375,
                        "z": 361.0860900878906
                    },
                    "rotation": {
                        "roll": 0.00012356863589957356,
                        "pitch": -0.5111986398696899,
                        "yaw": -170.80894470214844
                    }
                },
                "velocity": {
                    "x": -11.840943336486816,
                    "y": -1.9155453443527222,
                    "z": -0.10637178272008896
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03561782836914,
                "transform": {
                    "location": {
                        "x": 2964.64404296875,
                        "y": 4267.95458984375,
                        "z": 361.0074157714844
                    },
                    "rotation": {
                        "roll": -0.0010986330453306437,
                        "pitch": 0.4884677827358246,
                        "yaw": 9.216971397399902
                    }
                },
                "velocity": {
                    "x": 7.931735038757324,
                    "y": 1.286122441291809,
                    "z": 0.06800416857004166
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018623352050781,
                "transform": {
                    "location": {
                        "x": 2970.56396484375,
                        "y": 4265.6201171875,
                        "z": 361.04620361328125
                    },
                    "rotation": {
                        "roll": 0.0007925619720481336,
                        "pitch": 0.4979549050331116,
                        "yaw": 9.194973945617676
                    }
                },
                "velocity": {
                    "x": 7.915299892425537,
                    "y": 1.2812658548355103,
                    "z": 0.06863624602556229
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.421880722045898,
                "transform": {
                    "location": {
                        "x": 2984.468017578125,
                        "y": 4261.083984375,
                        "z": 361.1639404296875
                    },
                    "rotation": {
                        "roll": -9.154462168226019e-05,
                        "pitch": -0.5414153933525085,
                        "yaw": -170.811279296875
                    }
                },
                "velocity": {
                    "x": -6.339202880859375,
                    "y": -1.0254486799240112,
                    "z": -0.059265416115522385
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.270894050598145,
                "transform": {
                    "location": {
                        "x": 2950.96533203125,
                        "y": 4258.955078125,
                        "z": 360.8793640136719
                    },
                    "rotation": {
                        "roll": 0.0011132737854495645,
                        "pitch": -0.44133949279785156,
                        "yaw": -170.8080291748047
                    }
                },
                "velocity": {
                    "x": -12.112955093383789,
                    "y": -1.960103154182434,
                    "z": -0.09571471810340881
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034756660461426,
                "transform": {
                    "location": {
                        "x": 3008.1767578125,
                        "y": 4274.99853515625,
                        "z": 361.4064025878906
                    },
                    "rotation": {
                        "roll": 0.0010815722635015845,
                        "pitch": 0.5389360189437866,
                        "yaw": 9.208477020263672
                    }
                },
                "velocity": {
                    "x": 7.931132793426514,
                    "y": 1.2840182781219482,
                    "z": 0.07580558955669403
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015743255615234,
                "transform": {
                    "location": {
                        "x": 3011.263427734375,
                        "y": 4272.205078125,
                        "z": 361.4258117675781
                    },
                    "rotation": {
                        "roll": -0.00033568876096978784,
                        "pitch": 0.5533409118652344,
                        "yaw": 9.206100463867188
                    }
                },
                "velocity": {
                    "x": 7.912144184112549,
                    "y": 1.282328724861145,
                    "z": 0.07583976536989212
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.484551429748535,
                "transform": {
                    "location": {
                        "x": 2966.506591796875,
                        "y": 4258.177734375,
                        "z": 361.0107727050781
                    },
                    "rotation": {
                        "roll": -0.00140380859375,
                        "pitch": -0.16012011468410492,
                        "yaw": -170.8494873046875
                    }
                },
                "velocity": {
                    "x": -8.375433921813965,
                    "y": -1.3544719219207764,
                    "z": -0.07158311456441879
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.57232666015625,
                "transform": {
                    "location": {
                        "x": 2925.38330078125,
                        "y": 4254.81396484375,
                        "z": 360.6879577636719
                    },
                    "rotation": {
                        "roll": -0.0007629372412338853,
                        "pitch": -0.4527868628501892,
                        "yaw": -170.8009796142578
                    }
                },
                "velocity": {
                    "x": -10.436283111572266,
                    "y": -1.6888607740402222,
                    "z": -0.07638389617204666
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8186244964599609,
                "transform": {
                    "location": {
                        "x": 2899.089111328125,
                        "y": 4247.36767578125,
                        "z": 360.5066833496094
                    },
                    "rotation": {
                        "roll": -0.005737303756177425,
                        "pitch": -0.24228045344352722,
                        "yaw": -170.77076721191406
                    }
                },
                "velocity": {
                    "x": -0.806370735168457,
                    "y": -0.14099383354187012,
                    "z": -0.00574647868052125
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.014574136584997177,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38287353515625
                    },
                    "rotation": {
                        "roll": 4.849612741963938e-05,
                        "pitch": -0.38977155089378357,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": 9.17434663278982e-05,
                    "y": -2.004885936912615e-05,
                    "z": -0.014573833905160427
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.084622383117676,
                "transform": {
                    "location": {
                        "x": 2900.27490234375,
                        "y": 4250.751953125,
                        "z": 360.51226806640625
                    },
                    "rotation": {
                        "roll": 0.0011044545099139214,
                        "pitch": -0.6679378151893616,
                        "yaw": -170.80738830566406
                    }
                },
                "velocity": {
                    "x": -7.980588912963867,
                    "y": -1.2915973663330078,
                    "z": -0.05568625405430794
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11419147253036499,
        "expert_target_speed": 0,
        "target_point": [
            58.16890076696164,
            -0.7744964941766899
        ],
        "target_point_next": [
            100.16335894326782,
            -1.4564405260356406
        ]
    },
    "350": {
        "acceleration": [
            1.4773178100585938,
            0.2396535873413086,
            0.029919221997261047
        ],
        "angular_velocity": [
            0.12755517661571503,
            -0.3857056498527527,
            3.2714927196502686
        ],
        "forward_vector": [
            -0.9839117527008057,
            -0.17845818400382996,
            -0.008383532986044884
        ],
        "right_vector": [
            0.1784600019454956,
            -0.9839470982551575,
            0.0005384721443988383
        ],
        "location": [
            2945.873779296875,
            4255.078125,
            360.83941650390625
        ],
        "rotation": [
            -0.030853265896439552,
            -0.4803466796875,
            -169.71966552734375
        ],
        "velocity": [
            -6.983503818511963,
            -1.2686145305633545,
            -0.052809517830610275
        ],
        "speed": 7.097796024846561,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.765752792358398,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9481024742126465,
                "transform": {
                    "location": {
                        "x": 2884.964599609375,
                        "y": 4254.99853515625,
                        "z": 360.4499206542969
                    },
                    "rotation": {
                        "roll": 5.1794544560834765e-05,
                        "pitch": 0.3848743140697479,
                        "yaw": 9.765503883361816
                    }
                },
                "velocity": {
                    "x": 7.832154273986816,
                    "y": 1.351065993309021,
                    "z": 0.06569229066371918
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.7407307624816895,
                "transform": {
                    "location": {
                        "x": 2887.58740234375,
                        "y": 4252.13720703125,
                        "z": 360.4306945800781
                    },
                    "rotation": {
                        "roll": 0.009324154816567898,
                        "pitch": 0.2608107626438141,
                        "yaw": 9.773750305175781
                    }
                },
                "velocity": {
                    "x": 5.658967018127441,
                    "y": 0.9646664261817932,
                    "z": 0.03878922387957573
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.336051940917969,
                "transform": {
                    "location": {
                        "x": 2924.72802734375,
                        "y": 4261.4990234375,
                        "z": 360.69061279296875
                    },
                    "rotation": {
                        "roll": 0.0004723100282717496,
                        "pitch": 0.4269073009490967,
                        "yaw": 9.187135696411133
                    }
                },
                "velocity": {
                    "x": 7.241726398468018,
                    "y": 1.1714168787002563,
                    "z": 0.05331573262810707
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.231569290161133,
                "transform": {
                    "location": {
                        "x": 2928.84326171875,
                        "y": 4258.87060546875,
                        "z": 360.71722412109375
                    },
                    "rotation": {
                        "roll": -0.0011291475966572762,
                        "pitch": 0.4082130491733551,
                        "yaw": 9.130316734313965
                    }
                },
                "velocity": {
                    "x": 8.126110076904297,
                    "y": 1.3120428323745728,
                    "z": 0.06004355475306511
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.946183204650879,
                "transform": {
                    "location": {
                        "x": 2972.66357421875,
                        "y": 4262.466796875,
                        "z": 361.0597229003906
                    },
                    "rotation": {
                        "roll": 0.0010115931509062648,
                        "pitch": -0.49728554487228394,
                        "yaw": -170.81263732910156
                    }
                },
                "velocity": {
                    "x": -11.792375564575195,
                    "y": -1.908042073249817,
                    "z": -0.1027461439371109
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034811019897461,
                "transform": {
                    "location": {
                        "x": 2966.626708984375,
                        "y": 4268.27587890625,
                        "z": 361.0244140625
                    },
                    "rotation": {
                        "roll": -6.103701889514923e-05,
                        "pitch": 0.48773694038391113,
                        "yaw": 9.187922477722168
                    }
                },
                "velocity": {
                    "x": 7.931324481964111,
                    "y": 1.283584713935852,
                    "z": 0.06845851987600327
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.985630989074707,
                "transform": {
                    "location": {
                        "x": 2972.53857421875,
                        "y": 4265.939453125,
                        "z": 361.0635070800781
                    },
                    "rotation": {
                        "roll": 0.0005196574493311346,
                        "pitch": 0.4963429868221283,
                        "yaw": 9.194560050964355
                    }
                },
                "velocity": {
                    "x": 7.882728099822998,
                    "y": 1.275984525680542,
                    "z": 0.0690559595823288
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.18748664855957,
                "transform": {
                    "location": {
                        "x": 2982.809326171875,
                        "y": 4260.8154296875,
                        "z": 361.1483154296875
                    },
                    "rotation": {
                        "roll": 0.0011679515009745955,
                        "pitch": -0.5083914399147034,
                        "yaw": -170.80934143066406
                    }
                },
                "velocity": {
                    "x": -7.094801425933838,
                    "y": -1.1486738920211792,
                    "z": -0.06558680534362793
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.757035255432129,
                "transform": {
                    "location": {
                        "x": 2947.9736328125,
                        "y": 4258.47119140625,
                        "z": 360.8563232421875
                    },
                    "rotation": {
                        "roll": 0.00110279256477952,
                        "pitch": -0.4487570524215698,
                        "yaw": -170.8076629638672
                    }
                },
                "velocity": {
                    "x": -11.60572338104248,
                    "y": -1.8780508041381836,
                    "z": -0.08939410001039505
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035233497619629,
                "transform": {
                    "location": {
                        "x": 3010.15966796875,
                        "y": 4275.31884765625,
                        "z": 361.4252624511719
                    },
                    "rotation": {
                        "roll": -0.00024414029030594975,
                        "pitch": 0.545574963092804,
                        "yaw": 9.18737506866455
                    }
                },
                "velocity": {
                    "x": 7.931456089019775,
                    "y": 1.2850229740142822,
                    "z": 0.07544709742069244
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031187057495117,
                "transform": {
                    "location": {
                        "x": 3013.243408203125,
                        "y": 4272.525390625,
                        "z": 361.4447937011719
                    },
                    "rotation": {
                        "roll": 0.0011408454738557339,
                        "pitch": 0.5567013621330261,
                        "yaw": 9.200313568115234
                    }
                },
                "velocity": {
                    "x": 7.927696228027344,
                    "y": 1.2828620672225952,
                    "z": 0.07661468535661697
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.827459335327148,
                "transform": {
                    "location": {
                        "x": 2964.315673828125,
                        "y": 4257.8232421875,
                        "z": 360.9938659667969
                    },
                    "rotation": {
                        "roll": 0.001247781328856945,
                        "pitch": -0.3599236309528351,
                        "yaw": -170.8553466796875
                    }
                },
                "velocity": {
                    "x": -8.713959693908691,
                    "y": -1.40909743309021,
                    "z": -0.07343581318855286
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.71657943725586,
                "transform": {
                    "location": {
                        "x": 2922.9130859375,
                        "y": 4254.4140625,
                        "z": 360.669921875
                    },
                    "rotation": {
                        "roll": 0.0009288801229558885,
                        "pitch": -0.4438803195953369,
                        "yaw": -170.8264617919922
                    }
                },
                "velocity": {
                    "x": -9.59172248840332,
                    "y": -1.5510932207107544,
                    "z": -0.06987534463405609
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7472797632217407,
                "transform": {
                    "location": {
                        "x": 2898.79248046875,
                        "y": 4247.31689453125,
                        "z": 360.50396728515625
                    },
                    "rotation": {
                        "roll": -0.00860595703125,
                        "pitch": -0.17556317150592804,
                        "yaw": -170.59808349609375
                    }
                },
                "velocity": {
                    "x": -1.7209059000015259,
                    "y": -0.30221861600875854,
                    "z": -0.011555928736925125
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0023751414846628904,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38275146484375
                    },
                    "rotation": {
                        "roll": 0.00017111553461290896,
                        "pitch": -0.38977155089378357,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -4.193365384708159e-05,
                    "y": 6.854774983366951e-05,
                    "z": 0.002373781753703952
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.000836372375488,
                "transform": {
                    "location": {
                        "x": 2898.30908203125,
                        "y": 4250.43408203125,
                        "z": 360.49810791015625
                    },
                    "rotation": {
                        "roll": -0.0002746540994849056,
                        "pitch": -0.5464766025543213,
                        "yaw": -170.81155395507812
                    }
                },
                "velocity": {
                    "x": -7.897991180419922,
                    "y": -1.2775300741195679,
                    "z": -0.055100563913583755
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08373667299747467,
        "expert_target_speed": 0,
        "target_point": [
            56.35934137657808,
            -0.9344474197765464
        ],
        "target_point_next": [
            98.35175521161484,
            -1.7324107592407998
        ]
    },
    "355": {
        "acceleration": [
            2.6373863220214844,
            0.46164512634277344,
            0.02099364995956421
        ],
        "angular_velocity": [
            0.1556222140789032,
            -0.4550448954105377,
            -2.9619643688201904
        ],
        "forward_vector": [
            -0.9838243722915649,
            -0.17882612347602844,
            -0.01052681915462017
        ],
        "right_vector": [
            0.17883190512657166,
            -0.9838796257972717,
            0.00039732156437821686
        ],
        "location": [
            2944.1953125,
            4254.77294921875,
            360.8272705078125
        ],
        "rotation": [
            -0.02276611141860485,
            -0.6031534671783447,
            -169.69802856445312
        ],
        "velocity": [
            -6.429299831390381,
            -1.1736207008361816,
            -0.04835321754217148
        ],
        "speed": 6.535539906644867,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.063395500183105,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.106183052062988,
                "transform": {
                    "location": {
                        "x": 2886.943359375,
                        "y": 4255.337890625,
                        "z": 360.46484375
                    },
                    "rotation": {
                        "roll": 0.012692553922533989,
                        "pitch": 0.38871970772743225,
                        "yaw": 9.72159194946289
                    }
                },
                "velocity": {
                    "x": 7.993508338928223,
                    "y": 1.3456460237503052,
                    "z": 0.0570559948682785
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.944744110107422,
                "transform": {
                    "location": {
                        "x": 2889.002685546875,
                        "y": 4252.376953125,
                        "z": 360.44049072265625
                    },
                    "rotation": {
                        "roll": 0.007362884469330311,
                        "pitch": 0.3809879422187805,
                        "yaw": 9.648056030273438
                    }
                },
                "velocity": {
                    "x": 5.861392498016357,
                    "y": 0.9912189841270447,
                    "z": 0.03931153193116188
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.126063346862793,
                "transform": {
                    "location": {
                        "x": 2926.628662109375,
                        "y": 4261.80615234375,
                        "z": 360.7044372558594
                    },
                    "rotation": {
                        "roll": -3.051662861253135e-05,
                        "pitch": 0.4378560781478882,
                        "yaw": 9.18053150177002
                    }
                },
                "velocity": {
                    "x": 8.021932601928711,
                    "y": 1.2953877449035645,
                    "z": 0.05897253751754761
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.03286075592041,
                "transform": {
                    "location": {
                        "x": 2930.840576171875,
                        "y": 4259.19287109375,
                        "z": 360.73193359375
                    },
                    "rotation": {
                        "roll": -0.00033569178776815534,
                        "pitch": 0.4114915430545807,
                        "yaw": 9.15384578704834
                    }
                },
                "velocity": {
                    "x": 7.929996013641357,
                    "y": 1.2799835205078125,
                    "z": 0.06049520522356033
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.875859260559082,
                "transform": {
                    "location": {
                        "x": 2969.73876953125,
                        "y": 4261.9931640625,
                        "z": 361.0342102050781
                    },
                    "rotation": {
                        "roll": 0.0010166822466999292,
                        "pitch": -0.49550971388816833,
                        "yaw": -170.7994384765625
                    }
                },
                "velocity": {
                    "x": -11.72287654876709,
                    "y": -1.897306203842163,
                    "z": -0.10214715451002121
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035016059875488,
                "transform": {
                    "location": {
                        "x": 2968.609619140625,
                        "y": 4268.5966796875,
                        "z": 361.04150390625
                    },
                    "rotation": {
                        "roll": -0.0009155263542197645,
                        "pitch": 0.49622687697410583,
                        "yaw": 9.212615013122559
                    }
                },
                "velocity": {
                    "x": 7.931180477142334,
                    "y": 1.285774827003479,
                    "z": 0.06818120926618576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016315460205078,
                "transform": {
                    "location": {
                        "x": 2974.512939453125,
                        "y": 4266.2587890625,
                        "z": 361.0809631347656
                    },
                    "rotation": {
                        "roll": 0.00013177641085349023,
                        "pitch": 0.5049831867218018,
                        "yaw": 9.200804710388184
                    }
                },
                "velocity": {
                    "x": 7.912856101989746,
                    "y": 1.2818760871887207,
                    "z": 0.0693906769156456
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.150792121887207,
                "transform": {
                    "location": {
                        "x": 2980.910888671875,
                        "y": 4260.50830078125,
                        "z": 361.13079833984375
                    },
                    "rotation": {
                        "roll": 0.0003684608091134578,
                        "pitch": -0.5020461678504944,
                        "yaw": -170.808349609375
                    }
                },
                "velocity": {
                    "x": -8.045804023742676,
                    "y": -1.3019605875015259,
                    "z": -0.07319986820220947
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.79685115814209,
                "transform": {
                    "location": {
                        "x": 2945.0830078125,
                        "y": 4258.0029296875,
                        "z": 360.83416748046875
                    },
                    "rotation": {
                        "roll": 0.0005414945771917701,
                        "pitch": -0.43182501196861267,
                        "yaw": -170.80685424804688
                    }
                },
                "velocity": {
                    "x": -11.645024299621582,
                    "y": -1.8845237493515015,
                    "z": -0.08760396391153336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3012.159423828125,
                        "y": 4275.6259765625,
                        "z": 361.4442138671875
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3015.290283203125,
                        "y": 4272.779296875,
                        "z": 361.4678039550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.017882823944092,
                "transform": {
                    "location": {
                        "x": 2962.345458984375,
                        "y": 4257.50537109375,
                        "z": 360.9819030761719
                    },
                    "rotation": {
                        "roll": 0.0006784563884139061,
                        "pitch": -0.9150950312614441,
                        "yaw": -170.8230438232422
                    }
                },
                "velocity": {
                    "x": -5.940524101257324,
                    "y": -0.9605467915534973,
                    "z": -0.04936884343624115
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.259601593017578,
                "transform": {
                    "location": {
                        "x": 2920.744873046875,
                        "y": 4254.06982421875,
                        "z": 360.6543273925781
                    },
                    "rotation": {
                        "roll": -0.005401611793786287,
                        "pitch": -0.45416656136512756,
                        "yaw": -170.09014892578125
                    }
                },
                "velocity": {
                    "x": -8.15217113494873,
                    "y": -1.3264437913894653,
                    "z": -0.06065981835126877
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.386577844619751,
                "transform": {
                    "location": {
                        "x": 2898.171142578125,
                        "y": 4247.20947265625,
                        "z": 360.4986267089844
                    },
                    "rotation": {
                        "roll": -0.013641358353197575,
                        "pitch": -0.04040739685297012,
                        "yaw": -170.421630859375
                    }
                },
                "velocity": {
                    "x": -3.3352460861206055,
                    "y": -0.5869612693786621,
                    "z": -0.022806109860539436
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0017778780311346054,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38323974609375
                    },
                    "rotation": {
                        "roll": -9.155266161542386e-05,
                        "pitch": -0.38977155089378357,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -3.3770127629395574e-05,
                    "y": 3.7642803363269195e-05,
                    "z": 0.001777158584445715
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4624,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.735702991485596,
                "transform": {
                    "location": {
                        "x": 2896.34375,
                        "y": 4250.1162109375,
                        "z": 360.4842834472656
                    },
                    "rotation": {
                        "roll": 0.000905688269995153,
                        "pitch": -0.5008782148361206,
                        "yaw": -170.811767578125
                    }
                },
                "velocity": {
                    "x": -7.636257648468018,
                    "y": -1.2352575063705444,
                    "z": -0.05301715433597565
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.06308487057685852,
        "expert_target_speed": 0,
        "target_point": [
            54.65299998101997,
            -0.9558180526947648
        ],
        "target_point_next": [
            96.64510946664683,
            -1.769639981155077
        ]
    },
    "360": {
        "acceleration": [
            9.020261764526367,
            1.7349696159362793,
            0.07199294865131378
        ],
        "angular_velocity": [
            0.45451268553733826,
            -2.5173556804656982,
            -3.8943004608154297
        ],
        "forward_vector": [
            -0.9841066598892212,
            -0.17700639367103577,
            -0.014244789257645607
        ],
        "right_vector": [
            0.17702434957027435,
            -0.98420649766922,
            -5.104811862111092e-07
        ],
        "location": [
            2942.6845703125,
            4254.49853515625,
            360.8166809082031
        ],
        "rotation": [
            2.9251383239170536e-05,
            -0.8161938786506653,
            -169.8035125732422
        ],
        "velocity": [
            -5.1787261962890625,
            -0.928075909614563,
            -0.03943095728754997
        ],
        "speed": 5.261228935347471,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.53223705291748,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.679625034332275,
                "transform": {
                    "location": {
                        "x": 2984.15234375,
                        "y": 4264.42578125,
                        "z": 361.45355224609375
                    },
                    "rotation": {
                        "roll": 6.670390018115313e-09,
                        "pitch": -0.5282331705093384,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -6.418562889099121,
                    "y": -1.0386123657226562,
                    "z": -1.5299444198608398
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.884395599365234,
                "transform": {
                    "location": {
                        "x": 2888.913330078125,
                        "y": 4255.66943359375,
                        "z": 360.47857666015625
                    },
                    "rotation": {
                        "roll": 0.007462277077138424,
                        "pitch": 0.38622668385505676,
                        "yaw": 9.53486442565918
                    }
                },
                "velocity": {
                    "x": 7.776716709136963,
                    "y": 1.2974705696105957,
                    "z": 0.05423792824149132
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.595226764678955,
                "transform": {
                    "location": {
                        "x": 2890.60400390625,
                        "y": 4252.64697265625,
                        "z": 360.4518127441406
                    },
                    "rotation": {
                        "roll": 0.0054560876451432705,
                        "pitch": 0.6147511601448059,
                        "yaw": 9.586027145385742
                    }
                },
                "velocity": {
                    "x": 7.489538192749023,
                    "y": 1.2615373134613037,
                    "z": 0.05302184075117111
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.527856826782227,
                "transform": {
                    "location": {
                        "x": 2928.756103515625,
                        "y": 4262.1494140625,
                        "z": 360.72015380859375
                    },
                    "rotation": {
                        "roll": 0.00030063369194976985,
                        "pitch": 0.4352879226207733,
                        "yaw": 9.211689949035645
                    }
                },
                "velocity": {
                    "x": 8.418354034423828,
                    "y": 1.360738754272461,
                    "z": 0.06366168707609177
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.733540058135986,
                "transform": {
                    "location": {
                        "x": 2932.60107421875,
                        "y": 4259.4775390625,
                        "z": 360.7453308105469
                    },
                    "rotation": {
                        "roll": -3.051309431612026e-05,
                        "pitch": 0.38663649559020996,
                        "yaw": 9.137557029724121
                    }
                },
                "velocity": {
                    "x": 6.647080421447754,
                    "y": 1.0744885206222534,
                    "z": 0.04857388511300087
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.5942964553833,
                "transform": {
                    "location": {
                        "x": 2966.837646484375,
                        "y": 4261.5234375,
                        "z": 361.00933837890625
                    },
                    "rotation": {
                        "roll": 0.0015576398000121117,
                        "pitch": -0.4887409806251526,
                        "yaw": -170.8094482421875
                    }
                },
                "velocity": {
                    "x": -11.444889068603516,
                    "y": -1.852697730064392,
                    "z": -0.09868425875902176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035130500793457,
                "transform": {
                    "location": {
                        "x": 2970.592529296875,
                        "y": 4268.9169921875,
                        "z": 361.05877685546875
                    },
                    "rotation": {
                        "roll": 2.812224192894064e-05,
                        "pitch": 0.5013222098350525,
                        "yaw": 9.186622619628906
                    }
                },
                "velocity": {
                    "x": 7.931456565856934,
                    "y": 1.2847330570220947,
                    "z": 0.06915357708930969
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.984556198120117,
                "transform": {
                    "location": {
                        "x": 2976.487548828125,
                        "y": 4266.578125,
                        "z": 361.0985412597656
                    },
                    "rotation": {
                        "roll": -0.00213623302988708,
                        "pitch": 0.5108093023300171,
                        "yaw": 9.201744079589844
                    }
                },
                "velocity": {
                    "x": 7.881556987762451,
                    "y": 1.2763322591781616,
                    "z": 0.07189462333917618
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.43146800994873,
                "transform": {
                    "location": {
                        "x": 2978.7978515625,
                        "y": 4260.16650390625,
                        "z": 361.1117248535156
                    },
                    "rotation": {
                        "roll": 0.0006809136248193681,
                        "pitch": -0.49935510754585266,
                        "yaw": -170.8082733154297
                    }
                },
                "velocity": {
                    "x": -8.322875022888184,
                    "y": -1.346735954284668,
                    "z": -0.07550352066755295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.965361595153809,
                "transform": {
                    "location": {
                        "x": 2942.2587890625,
                        "y": 4257.54638671875,
                        "z": 360.8130798339844
                    },
                    "rotation": {
                        "roll": -0.0003051799430977553,
                        "pitch": -0.4460727870464325,
                        "yaw": -170.80581665039062
                    }
                },
                "velocity": {
                    "x": -10.824213981628418,
                    "y": -1.7518057823181152,
                    "z": -0.08197421580553055
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3014.224853515625,
                        "y": 4275.8935546875,
                        "z": 361.4635314941406
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3017.28955078125,
                        "y": 4273.0927734375,
                        "z": 361.48748779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0200700759887695,
                "transform": {
                    "location": {
                        "x": 2961.154296875,
                        "y": 4257.3125,
                        "z": 360.9727783203125
                    },
                    "rotation": {
                        "roll": -0.0012512232642620802,
                        "pitch": -1.036583662033081,
                        "yaw": -170.8062286376953
                    }
                },
                "velocity": {
                    "x": -4.955130100250244,
                    "y": -0.8039221167564392,
                    "z": -0.0387175977230072
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.63100528717041,
                "transform": {
                    "location": {
                        "x": 2918.6806640625,
                        "y": 4253.73193359375,
                        "z": 360.63885498046875
                    },
                    "rotation": {
                        "roll": -0.003997798543423414,
                        "pitch": -0.40594545006752014,
                        "yaw": -170.17221069335938
                    }
                },
                "velocity": {
                    "x": -8.517333984375,
                    "y": -1.3948211669921875,
                    "z": -0.06121925264596939
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.3866677284240723,
                "transform": {
                    "location": {
                        "x": 2897.2802734375,
                        "y": 4247.0537109375,
                        "z": 360.4942626953125
                    },
                    "rotation": {
                        "roll": -0.00811767391860485,
                        "pitch": -0.2532360851764679,
                        "yaw": -170.25563049316406
                    }
                },
                "velocity": {
                    "x": -3.3347890377044678,
                    "y": -0.5900193452835083,
                    "z": -0.02404184266924858
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008202272583730519,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.9290000636829063e-05,
                    "y": -1.8627196141096647e-06,
                    "z": 0.0008199982694350183
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.7901643514633179,
        "expert_target_speed": 0,
        "target_point": [
            53.119206464755194,
            -0.8578644496616992
        ],
        "target_point_next": [
            95.11274273327652,
            -1.5943947263644986
        ]
    },
    "365": {
        "acceleration": [
            11.731145858764648,
            1.6011848449707031,
            0.08894814550876617
        ],
        "angular_velocity": [
            -0.2882826328277588,
            -1.2784168720245361,
            -0.00299542723223567
        ],
        "forward_vector": [
            -0.9820442795753479,
            -0.1851029396057129,
            -0.036414436995983124
        ],
        "right_vector": [
            0.1852356344461441,
            -0.9826940894126892,
            -0.00027530104853212833
        ],
        "location": [
            2942.13623046875,
            4254.40478515625,
            360.8170166015625
        ],
        "rotation": [
            0.01578405685722828,
            -2.086854934692383,
            -169.32569885253906
        ],
        "velocity": [
            -0.004531127400696278,
            0.005038454197347164,
            -0.0012405731249600649
        ],
        "speed": 0.0067762184306666105,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.97838020324707,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.423269748687744,
                "transform": {
                    "location": {
                        "x": 2982.5849609375,
                        "y": 4264.166015625,
                        "z": 361.09661865234375
                    },
                    "rotation": {
                        "roll": -0.014617914333939552,
                        "pitch": -0.5344759225845337,
                        "yaw": -170.5690460205078
                    }
                },
                "velocity": {
                    "x": -6.327476501464844,
                    "y": -1.1043055057525635,
                    "z": -0.044120825827121735
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.08707332611084,
                "transform": {
                    "location": {
                        "x": 2890.597412109375,
                        "y": 4255.95068359375,
                        "z": 360.4914855957031
                    },
                    "rotation": {
                        "roll": 0.0037320228293538094,
                        "pitch": 0.24828419089317322,
                        "yaw": 9.444120407104492
                    }
                },
                "velocity": {
                    "x": 6.004250526428223,
                    "y": 0.9998641014099121,
                    "z": 0.0412915013730526
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.293050765991211,
                "transform": {
                    "location": {
                        "x": 2892.622802734375,
                        "y": 4252.98486328125,
                        "z": 360.465576171875
                    },
                    "rotation": {
                        "roll": 0.010037505067884922,
                        "pitch": 0.5317097306251526,
                        "yaw": 9.459895133972168
                    }
                },
                "velocity": {
                    "x": 8.180818557739258,
                    "y": 1.358573317527771,
                    "z": 0.05641019716858864
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.1187744140625,
                "transform": {
                    "location": {
                        "x": 2930.8017578125,
                        "y": 4262.47998046875,
                        "z": 360.7355651855469
                    },
                    "rotation": {
                        "roll": 0.00020243957987986505,
                        "pitch": 0.41013234853744507,
                        "yaw": 9.227720260620117
                    }
                },
                "velocity": {
                    "x": 8.014399528503418,
                    "y": 1.296245813369751,
                    "z": 0.06045914441347122
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.121161460876465,
                "transform": {
                    "location": {
                        "x": 2934.291748046875,
                        "y": 4259.7509765625,
                        "z": 360.7575378417969
                    },
                    "rotation": {
                        "roll": -0.0008544942829757929,
                        "pitch": 0.4260876774787903,
                        "yaw": 9.113187789916992
                    }
                },
                "velocity": {
                    "x": 7.029733180999756,
                    "y": 1.136255145072937,
                    "z": 0.05210968852043152
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.407086372375488,
                "transform": {
                    "location": {
                        "x": 2963.980224609375,
                        "y": 4261.06103515625,
                        "z": 360.9850769042969
                    },
                    "rotation": {
                        "roll": -0.00018310424638912082,
                        "pitch": -0.4820883870124817,
                        "yaw": -170.79798889160156
                    }
                },
                "velocity": {
                    "x": -11.260038375854492,
                    "y": -1.8232566118240356,
                    "z": -0.09423018246889114
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035158157348633,
                "transform": {
                    "location": {
                        "x": 2972.575439453125,
                        "y": 4269.2373046875,
                        "z": 361.07623291015625
                    },
                    "rotation": {
                        "roll": 0.0002126145118381828,
                        "pitch": 0.5035147070884705,
                        "yaw": 9.211202621459961
                    }
                },
                "velocity": {
                    "x": 7.931534767150879,
                    "y": 1.2844659090042114,
                    "z": 0.06837555021047592
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016977310180664,
                "transform": {
                    "location": {
                        "x": 2978.4619140625,
                        "y": 4266.8974609375,
                        "z": 361.1164855957031
                    },
                    "rotation": {
                        "roll": -0.0004577643994707614,
                        "pitch": 0.5133501887321472,
                        "yaw": 9.200455665588379
                    }
                },
                "velocity": {
                    "x": 7.913514614105225,
                    "y": 1.2817524671554565,
                    "z": 0.07299713045358658
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.354557514190674,
                "transform": {
                    "location": {
                        "x": 2976.8505859375,
                        "y": 4259.8515625,
                        "z": 361.0943908691406
                    },
                    "rotation": {
                        "roll": -0.000396724819438532,
                        "pitch": -0.5289571285247803,
                        "yaw": -170.80772399902344
                    }
                },
                "velocity": {
                    "x": -7.259833812713623,
                    "y": -1.1747673749923706,
                    "z": -0.06522263586521149
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.256559371948242,
                "transform": {
                    "location": {
                        "x": 2939.637939453125,
                        "y": 4257.12158203125,
                        "z": 360.79351806640625
                    },
                    "rotation": {
                        "roll": -0.00039672647835686803,
                        "pitch": -0.4440305829048157,
                        "yaw": -170.801025390625
                    }
                },
                "velocity": {
                    "x": -10.12443733215332,
                    "y": -1.639219880104065,
                    "z": -0.07575178146362305
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3016.243408203125,
                        "y": 4276.21337890625,
                        "z": 361.4830322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4701,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3019.218994140625,
                        "y": 4273.3955078125,
                        "z": 361.506591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.2135515213012695,
                "transform": {
                    "location": {
                        "x": 2959.896728515625,
                        "y": 4257.10888671875,
                        "z": 360.95733642578125
                    },
                    "rotation": {
                        "roll": 0.002128063701093197,
                        "pitch": -0.350067675113678,
                        "yaw": -170.7998809814453
                    }
                },
                "velocity": {
                    "x": -5.1464433670043945,
                    "y": -0.8328050971031189,
                    "z": -0.04091355577111244
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.19697380065918,
                "transform": {
                    "location": {
                        "x": 2916.464599609375,
                        "y": 4253.365234375,
                        "z": 360.622802734375
                    },
                    "rotation": {
                        "roll": 0.0007528056739829481,
                        "pitch": -0.3907414376735687,
                        "yaw": -170.64500427246094
                    }
                },
                "velocity": {
                    "x": -9.0774507522583,
                    "y": -1.4764904975891113,
                    "z": -0.06472010165452957
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0057408688589930534,
                "transform": {
                    "location": {
                        "x": 2896.822998046875,
                        "y": 4246.9765625,
                        "z": 360.4979248046875
                    },
                    "rotation": {
                        "roll": 0.005490341689437628,
                        "pitch": -1.11032235622406,
                        "yaw": -170.094970703125
                    }
                },
                "velocity": {
                    "x": -0.005712009500712156,
                    "y": 0.00020765197405125946,
                    "z": -0.0005360990762710571
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015377847012132406,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -2.570427932369057e-05,
                    "y": -2.543637492635753e-06,
                    "z": 0.001537567819468677
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9455979466438293,
        "expert_target_speed": 0,
        "target_point": [
            52.553989707499774,
            -1.2913480186648911
        ],
        "target_point_next": [
            94.53992411508703,
            -2.378029713503464
        ]
    },
    "370": {
        "acceleration": [
            -0.02106091007590294,
            -0.007203000131994486,
            -0.009529490023851395
        ],
        "angular_velocity": [
            -0.6189699769020081,
            3.286613702774048,
            -0.0032145455479621887
        ],
        "forward_vector": [
            -0.9824497103691101,
            -0.18518130481243134,
            -0.022372404113411903
        ],
        "right_vector": [
            0.1852220743894577,
            -0.9826966524124146,
            0.00025346947950311005
        ],
        "location": [
            2942.131103515625,
            4254.4033203125,
            360.8139343261719
        ],
        "rotation": [
            -0.014526366256177425,
            -1.2819513082504272,
            -169.32559204101562
        ],
        "velocity": [
            0.010168096981942654,
            0.0015995082212612033,
            0.001648778677918017
        ],
        "speed": 0.010293134740402143,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.973026275634766,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.940834045410156,
                "transform": {
                    "location": {
                        "x": 2981.040771484375,
                        "y": 4263.89794921875,
                        "z": 361.1169738769531
                    },
                    "rotation": {
                        "roll": -0.010559072718024254,
                        "pitch": -0.5349403619766235,
                        "yaw": -170.2045135498047
                    }
                },
                "velocity": {
                    "x": -5.850862979888916,
                    "y": -1.0291075706481934,
                    "z": 0.043009012937545776
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.1555328369140625,
                "transform": {
                    "location": {
                        "x": 2892.08056640625,
                        "y": 4256.1962890625,
                        "z": 360.500732421875
                    },
                    "rotation": {
                        "roll": 0.003849457250908017,
                        "pitch": 0.35430920124053955,
                        "yaw": 9.38428020477295
                    }
                },
                "velocity": {
                    "x": 6.074198246002197,
                    "y": 0.9965090751647949,
                    "z": 0.04081658273935318
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.886371612548828,
                "transform": {
                    "location": {
                        "x": 2894.6083984375,
                        "y": 4253.3134765625,
                        "z": 360.4791259765625
                    },
                    "rotation": {
                        "roll": 0.007396439090371132,
                        "pitch": 0.37825584411621094,
                        "yaw": 9.39326286315918
                    }
                },
                "velocity": {
                    "x": 7.7809739112854,
                    "y": 1.2839051485061646,
                    "z": 0.053790073841810226
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.934637069702148,
                "transform": {
                    "location": {
                        "x": 2932.77685546875,
                        "y": 4262.7998046875,
                        "z": 360.7502136230469
                    },
                    "rotation": {
                        "roll": -0.0007324234466068447,
                        "pitch": 0.41337668895721436,
                        "yaw": 9.188066482543945
                    }
                },
                "velocity": {
                    "x": 7.832568168640137,
                    "y": 1.2671765089035034,
                    "z": 0.06005411967635155
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.708475589752197,
                "transform": {
                    "location": {
                        "x": 2936.15185546875,
                        "y": 4260.05126953125,
                        "z": 360.771240234375
                    },
                    "rotation": {
                        "roll": 0.00015747259021736681,
                        "pitch": 0.4440305829048157,
                        "yaw": 9.1644287109375
                    }
                },
                "velocity": {
                    "x": 7.609312534332275,
                    "y": 1.2311675548553467,
                    "z": 0.056436557322740555
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.504225730895996,
                "transform": {
                    "location": {
                        "x": 2961.295654296875,
                        "y": 4260.62646484375,
                        "z": 360.962890625
                    },
                    "rotation": {
                        "roll": -0.0004272429214324802,
                        "pitch": -0.49502477049827576,
                        "yaw": -170.80645751953125
                    }
                },
                "velocity": {
                    "x": -10.368775367736816,
                    "y": -1.6792060136795044,
                    "z": -0.08674874156713486
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034242630004883,
                "transform": {
                    "location": {
                        "x": 2974.558349609375,
                        "y": 4269.5576171875,
                        "z": 361.0937805175781
                    },
                    "rotation": {
                        "roll": -0.00021363205451052636,
                        "pitch": 0.5129539966583252,
                        "yaw": 9.186394691467285
                    }
                },
                "velocity": {
                    "x": 7.930590629577637,
                    "y": 1.2844477891921997,
                    "z": 0.0705360397696495
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.985079765319824,
                "transform": {
                    "location": {
                        "x": 2980.436279296875,
                        "y": 4267.216796875,
                        "z": 361.1344909667969
                    },
                    "rotation": {
                        "roll": -0.00036620741593651474,
                        "pitch": 0.5227689743041992,
                        "yaw": 9.20021915435791
                    }
                },
                "velocity": {
                    "x": 7.882032871246338,
                    "y": 1.2766640186309814,
                    "z": 0.07202523946762085
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.96417236328125,
                "transform": {
                    "location": {
                        "x": 2975.19775390625,
                        "y": 4259.58447265625,
                        "z": 361.0797119140625
                    },
                    "rotation": {
                        "roll": 0.00025103031657636166,
                        "pitch": -0.5331645607948303,
                        "yaw": -170.80438232421875
                    }
                },
                "velocity": {
                    "x": -5.887314319610596,
                    "y": -0.9530354738235474,
                    "z": -0.05103033035993576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.662696838378906,
                "transform": {
                    "location": {
                        "x": 2937.2080078125,
                        "y": 4256.728515625,
                        "z": 360.77545166015625
                    },
                    "rotation": {
                        "roll": 0.00017722004849929363,
                        "pitch": -0.4441535174846649,
                        "yaw": -170.7980499267578
                    }
                },
                "velocity": {
                    "x": -9.538142204284668,
                    "y": -1.544784665107727,
                    "z": -0.07205186039209366
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3018.191162109375,
                        "y": 4276.5224609375,
                        "z": 361.5018005371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.243458271026611,
                "transform": {
                    "location": {
                        "x": 2958.493896484375,
                        "y": 4256.8818359375,
                        "z": 360.9446105957031
                    },
                    "rotation": {
                        "roll": -0.004333494231104851,
                        "pitch": -0.19323286414146423,
                        "yaw": -170.714111328125
                    }
                },
                "velocity": {
                    "x": -6.162371635437012,
                    "y": -1.0017096996307373,
                    "z": -0.05028333514928818
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.833941459655762,
                "transform": {
                    "location": {
                        "x": 2913.938720703125,
                        "y": 4252.953125,
                        "z": 360.6044006347656
                    },
                    "rotation": {
                        "roll": 0.0029960970859974623,
                        "pitch": -0.3590015470981598,
                        "yaw": -170.9418182373047
                    }
                },
                "velocity": {
                    "x": -10.695575714111328,
                    "y": -1.7242671251296997,
                    "z": -0.07644668221473694
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.005662928801029921,
                "transform": {
                    "location": {
                        "x": 2896.8203125,
                        "y": 4246.97607421875,
                        "z": 360.4947204589844
                    },
                    "rotation": {
                        "roll": -0.006744378712028265,
                        "pitch": -0.7210357189178467,
                        "yaw": -170.0950164794922
                    }
                },
                "velocity": {
                    "x": 0.005543443374335766,
                    "y": 0.0011565254535526037,
                    "z": -3.8109938031993806e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005990827921777964,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.763254294928629e-05,
                    "y": -3.608437282309751e-06,
                    "z": 0.0005988124175928533
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.8698208332061768,
        "expert_target_speed": 10.0,
        "target_point": [
            52.54867706444268,
            -1.291963158629672
        ],
        "target_point_next": [
            94.53460888105954,
            -2.3787449557333975
        ]
    },
    "375": {
        "acceleration": [
            -0.019632549956440926,
            -0.00135048758238554,
            -0.004191442858427763
        ],
        "angular_velocity": [
            -0.21925146877765656,
            1.3239080905914307,
            -0.0006671079900115728
        ],
        "forward_vector": [
            -0.9826181530952454,
            -0.18520626425743103,
            -0.01265921164304018
        ],
        "right_vector": [
            0.18521825969219208,
            -0.9826974272727966,
            0.0002290136180818081
        ],
        "location": [
            2942.127685546875,
            4254.40234375,
            360.81195068359375
        ],
        "rotation": [
            -0.013122565113008022,
            -0.7253387570381165,
            -169.3259735107422
        ],
        "velocity": [
            0.0042024534195661545,
            0.0007178349769674242,
            0.0016920914640650153
        ],
        "speed": 0.004263320513142437,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.96945858001709,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.321183681488037,
                "transform": {
                    "location": {
                        "x": 2979.698486328125,
                        "y": 4263.666015625,
                        "z": 361.1167907714844
                    },
                    "rotation": {
                        "roll": -0.0026550344191491604,
                        "pitch": -0.5567969679832458,
                        "yaw": -170.19839477539062
                    }
                },
                "velocity": {
                    "x": -5.2463836669921875,
                    "y": -0.888624906539917,
                    "z": -0.02829381823539734
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.774798393249512,
                "transform": {
                    "location": {
                        "x": 2893.716796875,
                        "y": 4256.46484375,
                        "z": 360.5104064941406
                    },
                    "rotation": {
                        "roll": 0.003012408735230565,
                        "pitch": 0.5298860669136047,
                        "yaw": 9.333235740661621
                    }
                },
                "velocity": {
                    "x": 7.672196865081787,
                    "y": 1.2578190565109253,
                    "z": 0.05264507979154587
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.084214210510254,
                "transform": {
                    "location": {
                        "x": 2896.571533203125,
                        "y": 4253.63623046875,
                        "z": 360.49267578125
                    },
                    "rotation": {
                        "roll": 0.004882782232016325,
                        "pitch": 0.41446951031684875,
                        "yaw": 9.333995819091797
                    }
                },
                "velocity": {
                    "x": 7.976812362670898,
                    "y": 1.3122584819793701,
                    "z": 0.05440487712621689
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.96311092376709,
                "transform": {
                    "location": {
                        "x": 2934.73583984375,
                        "y": 4263.11669921875,
                        "z": 360.7648010253906
                    },
                    "rotation": {
                        "roll": 0.0016160537488758564,
                        "pitch": 0.4213133752346039,
                        "yaw": 9.198629379272461
                    }
                },
                "velocity": {
                    "x": 7.860666275024414,
                    "y": 1.2718336582183838,
                    "z": 0.05913614109158516
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.62435531616211,
                "transform": {
                    "location": {
                        "x": 2938.23681640625,
                        "y": 4260.38916015625,
                        "z": 360.7867126464844
                    },
                    "rotation": {
                        "roll": -0.0005188002833165228,
                        "pitch": 0.45129790902137756,
                        "yaw": 9.110918045043945
                    }
                },
                "velocity": {
                    "x": 8.513688087463379,
                    "y": 1.3756768703460693,
                    "z": 0.06429044902324677
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.514579772949219,
                "transform": {
                    "location": {
                        "x": 2958.700439453125,
                        "y": 4260.20654296875,
                        "z": 360.9413146972656
                    },
                    "rotation": {
                        "roll": 0.0010686565656214952,
                        "pitch": -0.46743762493133545,
                        "yaw": -170.79188537597656
                    }
                },
                "velocity": {
                    "x": -10.378962516784668,
                    "y": -1.681222677230835,
                    "z": -0.08371902257204056
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034782409667969,
                "transform": {
                    "location": {
                        "x": 2976.540771484375,
                        "y": 4269.87841796875,
                        "z": 361.1115417480469
                    },
                    "rotation": {
                        "roll": -0.000732423912268132,
                        "pitch": 0.5147298574447632,
                        "yaw": 9.215031623840332
                    }
                },
                "velocity": {
                    "x": 7.930882453918457,
                    "y": 1.2859292030334473,
                    "z": 0.07224103808403015
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016129493713379,
                "transform": {
                    "location": {
                        "x": 2982.410888671875,
                        "y": 4267.5361328125,
                        "z": 361.1527404785156
                    },
                    "rotation": {
                        "roll": -0.0004577651561703533,
                        "pitch": 0.5236227512359619,
                        "yaw": 9.20312213897705
                    }
                },
                "velocity": {
                    "x": 7.9126152992248535,
                    "y": 1.2820167541503906,
                    "z": 0.07268243283033371
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.416795253753662,
                "transform": {
                    "location": {
                        "x": 2973.826171875,
                        "y": 4259.3623046875,
                        "z": 361.06756591796875
                    },
                    "rotation": {
                        "roll": 0.000385541032301262,
                        "pitch": -0.5145864486694336,
                        "yaw": -170.8042755126953
                    }
                },
                "velocity": {
                    "x": -5.346981525421143,
                    "y": -0.8655211329460144,
                    "z": -0.04828808829188347
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.943793296813965,
                "transform": {
                    "location": {
                        "x": 2934.800048828125,
                        "y": 4256.3388671875,
                        "z": 360.75714111328125
                    },
                    "rotation": {
                        "roll": 0.0003642041119746864,
                        "pitch": -0.4166278541088104,
                        "yaw": -170.79800415039062
                    }
                },
                "velocity": {
                    "x": -9.815712928771973,
                    "y": -1.5892044305801392,
                    "z": -0.07233302295207977
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.363872528076172,
                "transform": {
                    "location": {
                        "x": 2956.800048828125,
                        "y": 4256.6064453125,
                        "z": 360.9305725097656
                    },
                    "rotation": {
                        "roll": 0.0014917845837771893,
                        "pitch": -0.17520800232887268,
                        "yaw": -170.76171875
                    }
                },
                "velocity": {
                    "x": -7.268662452697754,
                    "y": -1.1789193153381348,
                    "z": -0.057536765933036804
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.570363998413086,
                "transform": {
                    "location": {
                        "x": 2911.166259765625,
                        "y": 4252.50732421875,
                        "z": 360.5847473144531
                    },
                    "rotation": {
                        "roll": 0.0033519931603223085,
                        "pitch": -0.37402796745300293,
                        "yaw": -170.9828643798828
                    }
                },
                "velocity": {
                    "x": -11.42432689666748,
                    "y": -1.830727219581604,
                    "z": -0.08073338121175766
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009405054152011871,
                "transform": {
                    "location": {
                        "x": 2896.817138671875,
                        "y": 4246.97509765625,
                        "z": 360.49139404296875
                    },
                    "rotation": {
                        "roll": -0.005462644621729851,
                        "pitch": -0.31283631920814514,
                        "yaw": -170.09510803222656
                    }
                },
                "velocity": {
                    "x": 0.0008231058600358665,
                    "y": 0.00023627634800504893,
                    "z": 0.0003888710052706301
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00015183008508756757,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.4759525583940558e-05,
                    "y": -1.8015596197074046e-06,
                    "z": 0.00015110024833120406
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9257600903511047,
        "expert_target_speed": 10.0,
        "target_point": [
            52.54514598084036,
            -1.291938942960531
        ],
        "target_point_next": [
            94.53108505157289,
            -2.378440453706272
        ]
    },
    "380": {
        "acceleration": [
            -0.006852354854345322,
            0.0009321304969489574,
            -0.00845260452479124
        ],
        "angular_velocity": [
            -0.10117268562316895,
            0.44026094675064087,
            -0.00013031094567850232
        ],
        "forward_vector": [
            -0.9826555848121643,
            -0.18521332740783691,
            -0.009164799936115742
        ],
        "right_vector": [
            0.1852191537618637,
            -0.9826972484588623,
            0.0002173047250835225
        ],
        "location": [
            2942.12646484375,
            4254.40185546875,
            360.8112487792969
        ],
        "rotation": [
            -0.012451167218387127,
            -0.525111734867096,
            -169.3259735107422
        ],
        "velocity": [
            0.0014056062791496515,
            0.00030724058160558343,
            0.0010982189560309052
        ],
        "speed": 0.0014387931703237493,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.968147277832031,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.991726398468018,
                "transform": {
                    "location": {
                        "x": 2978.315673828125,
                        "y": 4263.4306640625,
                        "z": 361.1057434082031
                    },
                    "rotation": {
                        "roll": -0.0011901850812137127,
                        "pitch": -0.4775941073894501,
                        "yaw": -170.3556365966797
                    }
                },
                "velocity": {
                    "x": -5.908228397369385,
                    "y": -0.9955759048461914,
                    "z": -0.04953916743397713
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.412179946899414,
                "transform": {
                    "location": {
                        "x": 2895.786865234375,
                        "y": 4256.80419921875,
                        "z": 360.5251159667969
                    },
                    "rotation": {
                        "roll": 0.00047711326624266803,
                        "pitch": 0.48749789595603943,
                        "yaw": 9.313666343688965
                    }
                },
                "velocity": {
                    "x": 8.301125526428223,
                    "y": 1.3612370491027832,
                    "z": 0.05584261938929558
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.076497077941895,
                "transform": {
                    "location": {
                        "x": 2898.57373046875,
                        "y": 4253.9638671875,
                        "z": 360.5065002441406
                    },
                    "rotation": {
                        "roll": 0.004362772684544325,
                        "pitch": 0.39983242750167847,
                        "yaw": 9.306722640991211
                    }
                },
                "velocity": {
                    "x": 7.970592975616455,
                    "y": 1.3024059534072876,
                    "z": 0.05652707815170288
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.020600318908691,
                "transform": {
                    "location": {
                        "x": 2936.709228515625,
                        "y": 4263.43603515625,
                        "z": 360.7794189453125
                    },
                    "rotation": {
                        "roll": 0.001581015414558351,
                        "pitch": 0.4246806502342224,
                        "yaw": 9.173942565917969
                    }
                },
                "velocity": {
                    "x": 7.917481899261475,
                    "y": 1.2805743217468262,
                    "z": 0.06026972457766533
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.180695533752441,
                "transform": {
                    "location": {
                        "x": 2940.302001953125,
                        "y": 4260.72216796875,
                        "z": 360.802490234375
                    },
                    "rotation": {
                        "roll": -9.155292354989797e-05,
                        "pitch": 0.4131171405315399,
                        "yaw": 9.157392501831055
                    }
                },
                "velocity": {
                    "x": 8.075456619262695,
                    "y": 1.306567907333374,
                    "z": 0.06054364889860153
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.192973136901855,
                "transform": {
                    "location": {
                        "x": 2956.1708984375,
                        "y": 4259.796875,
                        "z": 360.9207763671875
                    },
                    "rotation": {
                        "roll": -0.0015869135968387127,
                        "pitch": -0.4637766480445862,
                        "yaw": -170.80682373046875
                    }
                },
                "velocity": {
                    "x": -10.061665534973145,
                    "y": -1.6288102865219116,
                    "z": -0.08105377107858658
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03499984741211,
                "transform": {
                    "location": {
                        "x": 2978.523681640625,
                        "y": 4270.19970703125,
                        "z": 361.129638671875
                    },
                    "rotation": {
                        "roll": -3.335191012254768e-09,
                        "pitch": 0.5212595462799072,
                        "yaw": 9.191984176635742
                    }
                },
                "velocity": {
                    "x": 7.931218147277832,
                    "y": 1.2852119207382202,
                    "z": 0.0722845047712326
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9845709800720215,
                "transform": {
                    "location": {
                        "x": 2984.385009765625,
                        "y": 4267.85546875,
                        "z": 361.1710510253906
                    },
                    "rotation": {
                        "roll": -0.00045776538900099695,
                        "pitch": 0.5263548493385315,
                        "yaw": 9.204501152038574
                    }
                },
                "velocity": {
                    "x": 7.881337642669678,
                    "y": 1.2777260541915894,
                    "z": 0.07285869121551514
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.0489115715026855,
                "transform": {
                    "location": {
                        "x": 2972.429931640625,
                        "y": 4259.1357421875,
                        "z": 361.0549621582031
                    },
                    "rotation": {
                        "roll": -0.0002746614336501807,
                        "pitch": -0.4837276339530945,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": -5.9710235595703125,
                    "y": -0.9662089943885803,
                    "z": -0.051483090966939926
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.579367637634277,
                "transform": {
                    "location": {
                        "x": 2932.26611328125,
                        "y": 4255.9287109375,
                        "z": 360.73822021484375
                    },
                    "rotation": {
                        "roll": -9.155279258266091e-05,
                        "pitch": -0.4014579951763153,
                        "yaw": -170.80516052246094
                    }
                },
                "velocity": {
                    "x": -10.443124771118164,
                    "y": -1.6906297206878662,
                    "z": -0.07706040143966675
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.319502353668213,
                "transform": {
                    "location": {
                        "x": 2954.908935546875,
                        "y": 4256.298828125,
                        "z": 360.9170227050781
                    },
                    "rotation": {
                        "roll": 0.004348380956798792,
                        "pitch": -0.3588581085205078,
                        "yaw": -170.94131469726562
                    }
                },
                "velocity": {
                    "x": -7.2252936363220215,
                    "y": -1.1691784858703613,
                    "z": -0.057180892676115036
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.863588333129883,
                "transform": {
                    "location": {
                        "x": 2908.24267578125,
                        "y": 4252.0390625,
                        "z": 360.5642395019531
                    },
                    "rotation": {
                        "roll": 0.0009557312005199492,
                        "pitch": -0.38564613461494446,
                        "yaw": -170.88809204101562
                    }
                },
                "velocity": {
                    "x": -11.71287727355957,
                    "y": -1.8831629753112793,
                    "z": -0.08333748579025269
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002519531990401447,
                "transform": {
                    "location": {
                        "x": 2896.817138671875,
                        "y": 4246.97509765625,
                        "z": 360.49163818359375
                    },
                    "rotation": {
                        "roll": -0.004699710290879011,
                        "pitch": -0.34448057413101196,
                        "yaw": -170.09512329101562
                    }
                },
                "velocity": {
                    "x": -0.00015315898053813726,
                    "y": -2.0125833543716e-05,
                    "z": 0.00019904195505660027
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008325828239321709,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -2.1720825316151604e-05,
                    "y": 4.686387001129333e-06,
                    "z": 0.0008322862558998168
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9489249587059021,
        "expert_target_speed": 0,
        "target_point": [
            52.54385595968072,
            -1.292192675311986
        ],
        "target_point_next": [
            94.52979503041324,
            -2.378694186057727
        ]
    },
    "385": {
        "acceleration": [
            -8.378410711884499e-05,
            0.0008777347393333912,
            0.0024096891283988953
        ],
        "angular_velocity": [
            -0.036802615970373154,
            0.12909269332885742,
            -8.774040907155722e-05
        ],
        "forward_vector": [
            -0.9826637506484985,
            -0.1852150857448578,
            -0.008205678313970566
        ],
        "right_vector": [
            0.18521949648857117,
            -0.9826971888542175,
            0.00022689362231176347
        ],
        "location": [
            2942.126220703125,
            4254.40185546875,
            360.81103515625
        ],
        "rotation": [
            -0.013000484555959702,
            -0.4701560437679291,
            -169.32595825195312
        ],
        "velocity": [
            0.00040616284240968525,
            0.00011205155897187069,
            -6.929602386662737e-05
        ],
        "speed": 0.0004213357407369347,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.967909812927246,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.959282398223877,
                "transform": {
                    "location": {
                        "x": 2976.64453125,
                        "y": 4263.1484375,
                        "z": 361.0904541015625
                    },
                    "rotation": {
                        "roll": -0.003143308451399207,
                        "pitch": -0.39343252778053284,
                        "yaw": -170.4141845703125
                    }
                },
                "velocity": {
                    "x": -7.847878932952881,
                    "y": -1.3251792192459106,
                    "z": -0.06982336193323135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.768214702606201,
                "transform": {
                    "location": {
                        "x": 2897.771728515625,
                        "y": 4257.12841796875,
                        "z": 360.5399475097656
                    },
                    "rotation": {
                        "roll": 0.0029139979742467403,
                        "pitch": 0.3630586862564087,
                        "yaw": 9.266426086425781
                    }
                },
                "velocity": {
                    "x": 7.667166709899902,
                    "y": 1.2477349042892456,
                    "z": 0.05355070158839226
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.004606246948242,
                "transform": {
                    "location": {
                        "x": 2900.552001953125,
                        "y": 4254.287109375,
                        "z": 360.520263671875
                    },
                    "rotation": {
                        "roll": 0.00255150836892426,
                        "pitch": 0.39106929302215576,
                        "yaw": 9.249853134155273
                    }
                },
                "velocity": {
                    "x": 7.900167465209961,
                    "y": 1.2875962257385254,
                    "z": 0.05628722161054611
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.015996932983398,
                "transform": {
                    "location": {
                        "x": 2938.68896484375,
                        "y": 4263.75634765625,
                        "z": 360.79425048828125
                    },
                    "rotation": {
                        "roll": 0.0005076456582173705,
                        "pitch": 0.42317116260528564,
                        "yaw": 9.194477081298828
                    }
                },
                "velocity": {
                    "x": 7.912879943847656,
                    "y": 1.2801845073699951,
                    "z": 0.06058840453624725
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.951737880706787,
                "transform": {
                    "location": {
                        "x": 2942.286865234375,
                        "y": 4261.04345703125,
                        "z": 360.81732177734375
                    },
                    "rotation": {
                        "roll": 0.000649652152787894,
                        "pitch": 0.4161975681781769,
                        "yaw": 9.175692558288574
                    }
                },
                "velocity": {
                    "x": 7.8493499755859375,
                    "y": 1.2705237865447998,
                    "z": 0.06008957698941231
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.6543550491333,
                "transform": {
                    "location": {
                        "x": 2953.602783203125,
                        "y": 4259.38134765625,
                        "z": 360.9000549316406
                    },
                    "rotation": {
                        "roll": -0.0007324257749132812,
                        "pitch": -0.43810880184173584,
                        "yaw": -170.79734802246094
                    }
                },
                "velocity": {
                    "x": -10.517128944396973,
                    "y": -1.7025331258773804,
                    "z": -0.08166251331567764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034605979919434,
                "transform": {
                    "location": {
                        "x": 2980.5068359375,
                        "y": 4270.52099609375,
                        "z": 361.1477355957031
                    },
                    "rotation": {
                        "roll": 0.0010746765183284879,
                        "pitch": 0.5278369784355164,
                        "yaw": 9.216740608215332
                    }
                },
                "velocity": {
                    "x": 7.930874347686768,
                    "y": 1.2848860025405884,
                    "z": 0.07201603055000305
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016176223754883,
                "transform": {
                    "location": {
                        "x": 2986.359375,
                        "y": 4268.17529296875,
                        "z": 361.18939208984375
                    },
                    "rotation": {
                        "roll": -0.00012207150575704873,
                        "pitch": 0.5300499796867371,
                        "yaw": 9.203015327453613
                    }
                },
                "velocity": {
                    "x": 7.912698268890381,
                    "y": 1.28177809715271,
                    "z": 0.07300950586795807
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.998100757598877,
                "transform": {
                    "location": {
                        "x": 2970.830810546875,
                        "y": 4258.876953125,
                        "z": 361.04095458984375
                    },
                    "rotation": {
                        "roll": -0.0003051811654586345,
                        "pitch": -0.47467079758644104,
                        "yaw": -170.77999877929688
                    }
                },
                "velocity": {
                    "x": -6.907695770263672,
                    "y": -1.1196626424789429,
                    "z": -0.059248100966215134
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.054031372070312,
                "transform": {
                    "location": {
                        "x": 2929.58154296875,
                        "y": 4255.49365234375,
                        "z": 360.7183532714844
                    },
                    "rotation": {
                        "roll": -0.00012207258259877563,
                        "pitch": -0.3994157910346985,
                        "yaw": -170.80972290039062
                    }
                },
                "velocity": {
                    "x": -10.911895751953125,
                    "y": -1.765127182006836,
                    "z": -0.08042388409376144
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9319593906402588,
                "transform": {
                    "location": {
                        "x": 2953.9267578125,
                        "y": 4256.12451171875,
                        "z": 360.91986083984375
                    },
                    "rotation": {
                        "roll": 0.046081751585006714,
                        "pitch": -1.689023733139038,
                        "yaw": -172.18824768066406
                    }
                },
                "velocity": {
                    "x": -0.9137078523635864,
                    "y": -0.18333572149276733,
                    "z": -0.008618516847491264
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.764444351196289,
                "transform": {
                    "location": {
                        "x": 2905.44970703125,
                        "y": 4251.58984375,
                        "z": 360.544921875
                    },
                    "rotation": {
                        "roll": -0.0002136227412847802,
                        "pitch": -0.42657262086868286,
                        "yaw": -170.8270721435547
                    }
                },
                "velocity": {
                    "x": -10.627083778381348,
                    "y": -1.7125407457351685,
                    "z": -0.0745236724615097
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005067575257271528,
                "transform": {
                    "location": {
                        "x": 2896.817626953125,
                        "y": 4246.97509765625,
                        "z": 360.4920349121094
                    },
                    "rotation": {
                        "roll": -0.004760744050145149,
                        "pitch": -0.38821426033973694,
                        "yaw": -170.0951385498047
                    }
                },
                "velocity": {
                    "x": -0.0003158548497594893,
                    "y": -2.596231206553057e-05,
                    "z": 0.0003954299900215119
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00026806516689248383,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.2437253644748125e-05,
                    "y": -1.366452306683641e-05,
                    "z": 0.0002674276183824986
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9747381806373596,
        "expert_target_speed": 0,
        "target_point": [
            52.543616043456545,
            -1.292147455292607
        ],
        "target_point_next": [
            94.52955511418907,
            -2.3786489660383463
        ]
    },
    "390": {
        "acceleration": [
            -0.0008827136480249465,
            0.0021739278454333544,
            0.003285844810307026
        ],
        "angular_velocity": [
            -0.037930991500616074,
            0.06510813534259796,
            -0.00020860678341705352
        ],
        "forward_vector": [
            -0.9826673269271851,
            -0.1852157711982727,
            -0.007754486054182053
        ],
        "right_vector": [
            0.18521961569786072,
            -0.9826971292495728,
            0.00022476399317383766
        ],
        "location": [
            2942.1259765625,
            4254.40185546875,
            360.8109436035156
        ],
        "rotation": [
            -0.012878415174782276,
            -0.4443037807941437,
            -169.32595825195312
        ],
        "velocity": [
            0.00019972941663581878,
            0.00011086890299338847,
            -0.0001486589462729171
        ],
        "speed": 0.00022843763595485283,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.967673301696777,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2862.55810546875,
                        "y": 4248.04248046875,
                        "z": 360.6406555175781
                    },
                    "rotation": {
                        "roll": 3.3351426065308942e-09,
                        "pitch": 0.4193940758705139,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.314131736755371,
                "transform": {
                    "location": {
                        "x": 2974.502685546875,
                        "y": 4262.78857421875,
                        "z": 361.0714416503906
                    },
                    "rotation": {
                        "roll": 0.0028650371823459864,
                        "pitch": -0.39986658096313477,
                        "yaw": -170.48426818847656
                    }
                },
                "velocity": {
                    "x": -9.188555717468262,
                    "y": -1.5221329927444458,
                    "z": -0.08126836270093918
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.105889320373535,
                "transform": {
                    "location": {
                        "x": 2899.71435546875,
                        "y": 4257.44482421875,
                        "z": 360.55303955078125
                    },
                    "rotation": {
                        "roll": -0.001220701145939529,
                        "pitch": 0.413158118724823,
                        "yaw": 9.247599601745605
                    }
                },
                "velocity": {
                    "x": 8.000365257263184,
                    "y": 1.3025115728378296,
                    "z": 0.05532363802194595
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.068795204162598,
                "transform": {
                    "location": {
                        "x": 2902.536376953125,
                        "y": 4254.6103515625,
                        "z": 360.5341796875
                    },
                    "rotation": {
                        "roll": 0.0012541413307189941,
                        "pitch": 0.40437451004981995,
                        "yaw": 9.261066436767578
                    }
                },
                "velocity": {
                    "x": 7.963841915130615,
                    "y": 1.2959626913070679,
                    "z": 0.056273896247148514
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.999263763427734,
                "transform": {
                    "location": {
                        "x": 2940.6650390625,
                        "y": 4264.076171875,
                        "z": 360.8089904785156
                    },
                    "rotation": {
                        "roll": -0.0004882817156612873,
                        "pitch": 0.42269307374954224,
                        "yaw": 9.172990798950195
                    }
                },
                "velocity": {
                    "x": 7.8965301513671875,
                    "y": 1.2764729261398315,
                    "z": 0.060412388294935226
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.948261260986328,
                "transform": {
                    "location": {
                        "x": 2944.245361328125,
                        "y": 4261.35986328125,
                        "z": 360.83203125
                    },
                    "rotation": {
                        "roll": -0.0004272455698810518,
                        "pitch": 0.42842358350753784,
                        "yaw": 9.214540481567383
                    }
                },
                "velocity": {
                    "x": 7.845830917358398,
                    "y": 1.2704572677612305,
                    "z": 0.06105406582355499
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.911300659179688,
                "transform": {
                    "location": {
                        "x": 2950.939697265625,
                        "y": 4258.94970703125,
                        "z": 360.8791198730469
                    },
                    "rotation": {
                        "roll": 0.000647972512524575,
                        "pitch": -0.43148350715637207,
                        "yaw": -170.8150634765625
                    }
                },
                "velocity": {
                    "x": -10.770803451538086,
                    "y": -1.743297815322876,
                    "z": -0.08474024385213852
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035283088684082,
                "transform": {
                    "location": {
                        "x": 2982.4892578125,
                        "y": 4270.84326171875,
                        "z": 361.1660461425781
                    },
                    "rotation": {
                        "roll": 0.0009505739435553551,
                        "pitch": 0.5282331705093384,
                        "yaw": 9.192395210266113
                    }
                },
                "velocity": {
                    "x": 7.931620121002197,
                    "y": 1.2845137119293213,
                    "z": 0.07209540903568268
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.984467506408691,
                "transform": {
                    "location": {
                        "x": 2988.333251953125,
                        "y": 4268.49462890625,
                        "z": 361.2078552246094
                    },
                    "rotation": {
                        "roll": 0.0005603362224064767,
                        "pitch": 0.5297631025314331,
                        "yaw": 9.199460983276367
                    }
                },
                "velocity": {
                    "x": 7.881442546844482,
                    "y": 1.2764543294906616,
                    "z": 0.07241450995206833
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.4351277351379395,
                "transform": {
                    "location": {
                        "x": 2969.002197265625,
                        "y": 4258.58056640625,
                        "z": 361.0252380371094
                    },
                    "rotation": {
                        "roll": -0.001007076702080667,
                        "pitch": -0.4716450273990631,
                        "yaw": -170.78860473632812
                    }
                },
                "velocity": {
                    "x": -7.339153289794922,
                    "y": -1.1890846490859985,
                    "z": -0.06348488479852676
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.45091724395752,
                "transform": {
                    "location": {
                        "x": 2926.928466796875,
                        "y": 4255.064453125,
                        "z": 360.6991271972656
                    },
                    "rotation": {
                        "roll": -0.0007629416650161147,
                        "pitch": -0.43084830045700073,
                        "yaw": -170.81289672851562
                    }
                },
                "velocity": {
                    "x": -10.316534042358398,
                    "y": -1.668827772140503,
                    "z": -0.07623961567878723
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5546538233757019,
                "transform": {
                    "location": {
                        "x": 2953.854248046875,
                        "y": 4256.11181640625,
                        "z": 360.9139709472656
                    },
                    "rotation": {
                        "roll": 0.05897464603185654,
                        "pitch": -1.0629891157150269,
                        "yaw": -172.1850128173828
                    }
                },
                "velocity": {
                    "x": -0.5482951402664185,
                    "y": -0.08370530605316162,
                    "z": -0.0025974081363528967
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.630647659301758,
                "transform": {
                    "location": {
                        "x": 2902.944091796875,
                        "y": 4251.18603515625,
                        "z": 360.5274658203125
                    },
                    "rotation": {
                        "roll": -0.0011291479459032416,
                        "pitch": -0.4337169826030731,
                        "yaw": -170.7833709716797
                    }
                },
                "velocity": {
                    "x": -9.506925582885742,
                    "y": -1.5372596979141235,
                    "z": -0.06754106283187866
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.936215423687827e-05,
                "transform": {
                    "location": {
                        "x": 2896.817626953125,
                        "y": 4246.97509765625,
                        "z": 360.4920959472656
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.39953190088272095,
                        "yaw": -170.09519958496094
                    }
                },
                "velocity": {
                    "x": 1.2410208000801504e-05,
                    "y": 2.28937242354732e-05,
                    "z": -1.356466964352876e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010370510863140225,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -2.31416524911765e-05,
                    "y": 4.66692245026934e-06,
                    "z": 0.001036782399751246
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9847782254219055,
        "expert_target_speed": 0,
        "target_point": [
            52.54337612723237,
            -1.2921022352732283
        ],
        "target_point_next": [
            94.52931519796489,
            -2.3786037460189657
        ]
    },
    "395": {
        "acceleration": [
            -0.00014675111742690206,
            0.0010623063426464796,
            0.0019091588910669088
        ],
        "angular_velocity": [
            -0.01909867860376835,
            0.02013826183974743,
            -0.00018853502115234733
        ],
        "forward_vector": [
            -0.9826683402061462,
            -0.18521572649478912,
            -0.007623001933097839
        ],
        "right_vector": [
            0.185219407081604,
            -0.9826971888542175,
            0.00022636201174464077
        ],
        "location": [
            2942.1259765625,
            4254.40185546875,
            360.8109436035156
        ],
        "rotation": [
            -0.012969965115189552,
            -0.43677008152008057,
            -169.3259735107422
        ],
        "velocity": [
            5.22118789376691e-05,
            5.616143243969418e-05,
            -7.312021625693887e-05
        ],
        "speed": 7.668237604482628e-05,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.967673301696777,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2863.82861328125,
                        "y": 4248.248046875,
                        "z": 360.3982238769531
                    },
                    "rotation": {
                        "roll": 3.3351394979064253e-09,
                        "pitch": 0.4119628369808197,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.60145092010498,
                "transform": {
                    "location": {
                        "x": 2972.0390625,
                        "y": 4262.38134765625,
                        "z": 361.0498046875
                    },
                    "rotation": {
                        "roll": 0.003815458854660392,
                        "pitch": -0.40325435996055603,
                        "yaw": -170.62635803222656
                    }
                },
                "velocity": {
                    "x": -10.460086822509766,
                    "y": -1.7231011390686035,
                    "z": -0.09097868949174881
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.077098846435547,
                "transform": {
                    "location": {
                        "x": 2901.72900390625,
                        "y": 4257.7724609375,
                        "z": 360.5671691894531
                    },
                    "rotation": {
                        "roll": 0.0008637868450023234,
                        "pitch": 0.40351390838623047,
                        "yaw": 9.23478889465332
                    }
                },
                "velocity": {
                    "x": 7.972711086273193,
                    "y": 1.2931872606277466,
                    "z": 0.055473603308200836
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041674613952637,
                "transform": {
                    "location": {
                        "x": 2904.525146484375,
                        "y": 4254.93310546875,
                        "z": 360.5481262207031
                    },
                    "rotation": {
                        "roll": 0.0015324774431064725,
                        "pitch": 0.399245023727417,
                        "yaw": 9.2094144821167
                    }
                },
                "velocity": {
                    "x": 7.937633037567139,
                    "y": 1.2881548404693604,
                    "z": 0.056351516395807266
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.998621463775635,
                "transform": {
                    "location": {
                        "x": 2942.638916015625,
                        "y": 4264.39404296875,
                        "z": 360.8238220214844
                    },
                    "rotation": {
                        "roll": -0.0012207035906612873,
                        "pitch": 0.4277815520763397,
                        "yaw": 9.192903518676758
                    }
                },
                "velocity": {
                    "x": 7.895889759063721,
                    "y": 1.276387095451355,
                    "z": 0.060891445726156235
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013540267944336,
                "transform": {
                    "location": {
                        "x": 2946.2158203125,
                        "y": 4261.67919921875,
                        "z": 360.84698486328125
                    },
                    "rotation": {
                        "roll": 0.0003555301227606833,
                        "pitch": 0.43254902958869934,
                        "yaw": 9.198140144348145
                    }
                },
                "velocity": {
                    "x": 7.9101176261901855,
                    "y": 1.281868577003479,
                    "z": 0.06069890037178993
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.525873184204102,
                "transform": {
                    "location": {
                        "x": 2948.2734375,
                        "y": 4258.5185546875,
                        "z": 360.8586730957031
                    },
                    "rotation": {
                        "roll": 0.0010470747947692871,
                        "pitch": -0.4449458122253418,
                        "yaw": -170.80474853515625
                    }
                },
                "velocity": {
                    "x": -10.390499114990234,
                    "y": -1.680816411972046,
                    "z": -0.08001831918954849
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034427642822266,
                "transform": {
                    "location": {
                        "x": 2984.472412109375,
                        "y": 4271.16357421875,
                        "z": 361.1844482421875
                    },
                    "rotation": {
                        "roll": 0.0004669775371439755,
                        "pitch": 0.5310062170028687,
                        "yaw": 9.206483840942383
                    }
                },
                "velocity": {
                    "x": 7.930895805358887,
                    "y": 1.283610463142395,
                    "z": 0.0725710317492485
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016260147094727,
                "transform": {
                    "location": {
                        "x": 2990.30810546875,
                        "y": 4268.81396484375,
                        "z": 361.2262878417969
                    },
                    "rotation": {
                        "roll": 0.0007912750588729978,
                        "pitch": 0.5291483998298645,
                        "yaw": 9.198131561279297
                    }
                },
                "velocity": {
                    "x": 7.912838459014893,
                    "y": 1.2814581394195557,
                    "z": 0.07267779856920242
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.887243270874023,
                "transform": {
                    "location": {
                        "x": 2967.32080078125,
                        "y": 4258.30810546875,
                        "z": 361.0110778808594
                    },
                    "rotation": {
                        "roll": -0.0005187977221794426,
                        "pitch": -0.5060691833496094,
                        "yaw": -170.79356384277344
                    }
                },
                "velocity": {
                    "x": -5.811203479766846,
                    "y": -0.9418428540229797,
                    "z": -0.04977930337190628
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.198156356811523,
                "transform": {
                    "location": {
                        "x": 2924.36328125,
                        "y": 4254.6494140625,
                        "z": 360.6802978515625
                    },
                    "rotation": {
                        "roll": 0.0007190869655460119,
                        "pitch": -0.4221193194389343,
                        "yaw": -170.81629943847656
                    }
                },
                "velocity": {
                    "x": -10.067133903503418,
                    "y": -1.6278048753738403,
                    "z": -0.0738370269536972
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8923644423484802,
                "transform": {
                    "location": {
                        "x": 2953.64453125,
                        "y": 4256.07958984375,
                        "z": 360.90557861328125
                    },
                    "rotation": {
                        "roll": 0.002487584250047803,
                        "pitch": -0.18692177534103394,
                        "yaw": -172.09603881835938
                    }
                },
                "velocity": {
                    "x": -0.8816291689872742,
                    "y": -0.13786746561527252,
                    "z": -0.006071033421903849
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.740207672119141,
                "transform": {
                    "location": {
                        "x": 2900.856201171875,
                        "y": 4250.8544921875,
                        "z": 360.5132751464844
                    },
                    "rotation": {
                        "roll": -0.0035705575719475746,
                        "pitch": -0.4756748378276825,
                        "yaw": -170.19461059570312
                    }
                },
                "velocity": {
                    "x": -6.65361213684082,
                    "y": -1.0759309530258179,
                    "z": -0.04707248508930206
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003074398555327207,
                "transform": {
                    "location": {
                        "x": 2896.817626953125,
                        "y": 4246.97509765625,
                        "z": 360.4920654296875
                    },
                    "rotation": {
                        "roll": -0.0047302222810685635,
                        "pitch": -0.39557039737701416,
                        "yaw": -170.09521484375
                    }
                },
                "velocity": {
                    "x": -1.2492983842093963e-05,
                    "y": 1.7115184164140373e-05,
                    "z": 0.0003067087382078171
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005515554221346974,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.6902982679312117e-05,
                    "y": -8.079278813966084e-06,
                    "z": 0.0005512371426448226
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9860391616821289,
        "expert_target_speed": 0,
        "target_point": [
            52.54337612723237,
            -1.2921022352732283
        ],
        "target_point_next": [
            94.52931519796489,
            -2.3786037460189657
        ]
    },
    "400": {
        "acceleration": [
            -0.00020945220603607595,
            -0.001924060983583331,
            0.00679003493860364
        ],
        "angular_velocity": [
            0.00357810128480196,
            0.005981274880468845,
            -3.1979510822566226e-05
        ],
        "forward_vector": [
            -0.9826688766479492,
            -0.18521583080291748,
            -0.007551597896963358
        ],
        "right_vector": [
            0.1852193921804428,
            -0.9826971888542175,
            0.00023009057622402906
        ],
        "location": [
            2942.1259765625,
            4254.40185546875,
            360.8108825683594
        ],
        "rotation": [
            -0.013183594681322575,
            -0.43267878890037537,
            -169.3259735107422
        ],
        "velocity": [
            2.2330134470394114e-06,
            -9.348485036753118e-06,
            0.000292538374196738
        ],
        "speed": 9.61147863427141e-06,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.967673301696777,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2862.89892578125,
                        "y": 4251.3896484375,
                        "z": 360.4145202636719
                    },
                    "rotation": {
                        "roll": 3.3351394979064253e-09,
                        "pitch": 0.4119628369808197,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2865.882080078125,
                        "y": 4248.580078125,
                        "z": 360.3166809082031
                    },
                    "rotation": {
                        "roll": 3.3351394979064253e-09,
                        "pitch": 0.4119628369808197,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.466070175170898,
                "transform": {
                    "location": {
                        "x": 2969.284423828125,
                        "y": 4261.927734375,
                        "z": 361.02593994140625
                    },
                    "rotation": {
                        "roll": 0.0021658488549292088,
                        "pitch": -0.42129287123680115,
                        "yaw": -170.68417358398438
                    }
                },
                "velocity": {
                    "x": -11.315417289733887,
                    "y": -1.8499864339828491,
                    "z": -0.09818748384714127
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.932656764984131,
                "transform": {
                    "location": {
                        "x": 2903.694091796875,
                        "y": 4258.09130859375,
                        "z": 360.58111572265625
                    },
                    "rotation": {
                        "roll": 0.001011467888019979,
                        "pitch": 0.38629499077796936,
                        "yaw": 9.217573165893555
                    }
                },
                "velocity": {
                    "x": 7.830033302307129,
                    "y": 1.270608901977539,
                    "z": 0.05632755160331726
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041221618652344,
                "transform": {
                    "location": {
                        "x": 2906.508056640625,
                        "y": 4255.25537109375,
                        "z": 360.56207275390625
                    },
                    "rotation": {
                        "roll": 0.0019270945340394974,
                        "pitch": 0.40270110964775085,
                        "yaw": 9.227554321289062
                    }
                },
                "velocity": {
                    "x": 7.937375545501709,
                    "y": 1.2869027853012085,
                    "z": 0.056517791002988815
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003575325012207,
                "transform": {
                    "location": {
                        "x": 2944.61328125,
                        "y": 4264.7138671875,
                        "z": 360.8387756347656
                    },
                    "rotation": {
                        "roll": -0.0011291474802419543,
                        "pitch": 0.4307595193386078,
                        "yaw": 9.17236328125
                    }
                },
                "velocity": {
                    "x": 7.900733470916748,
                    "y": 1.2774693965911865,
                    "z": 0.06079334020614624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018769264221191,
                "transform": {
                    "location": {
                        "x": 2948.1953125,
                        "y": 4261.99951171875,
                        "z": 360.8621826171875
                    },
                    "rotation": {
                        "roll": 0.0008750868728384376,
                        "pitch": 0.4389694035053253,
                        "yaw": 9.21985912322998
                    }
                },
                "velocity": {
                    "x": 7.9152045249938965,
                    "y": 1.2831770181655884,
                    "z": 0.060541875660419464
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.187255859375,
                "transform": {
                    "location": {
                        "x": 2945.740234375,
                        "y": 4258.10888671875,
                        "z": 360.8392028808594
                    },
                    "rotation": {
                        "roll": 0.0008781455690041184,
                        "pitch": -0.441400945186615,
                        "yaw": -170.81906127929688
                    }
                },
                "velocity": {
                    "x": -10.056255340576172,
                    "y": -1.6266798973083496,
                    "z": -0.0762333944439888
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034249305725098,
                "transform": {
                    "location": {
                        "x": 2986.454833984375,
                        "y": 4271.48388671875,
                        "z": 361.202880859375
                    },
                    "rotation": {
                        "roll": 0.0012805027654394507,
                        "pitch": 0.53451007604599,
                        "yaw": 9.181084632873535
                    }
                },
                "velocity": {
                    "x": 7.930680274963379,
                    "y": 1.2837769985198975,
                    "z": 0.0734010860323906
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.984633445739746,
                "transform": {
                    "location": {
                        "x": 2992.2822265625,
                        "y": 4269.1328125,
                        "z": 361.2447204589844
                    },
                    "rotation": {
                        "roll": 0.0009125227225013077,
                        "pitch": 0.528793215751648,
                        "yaw": 9.197881698608398
                    }
                },
                "velocity": {
                    "x": 7.881636142730713,
                    "y": 1.276296615600586,
                    "z": 0.07242229580879211
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.04526481032371521,
                "transform": {
                    "location": {
                        "x": 2966.600341796875,
                        "y": 4258.18701171875,
                        "z": 361.0054931640625
                    },
                    "rotation": {
                        "roll": 0.006222167052328587,
                        "pitch": -0.6007082462310791,
                        "yaw": -171.6005096435547
                    }
                },
                "velocity": {
                    "x": -0.04507862776517868,
                    "y": -0.004101266618818045,
                    "z": -5.176812464924296e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.236621856689453,
                "transform": {
                    "location": {
                        "x": 2921.97314453125,
                        "y": 4254.26318359375,
                        "z": 360.6630859375
                    },
                    "rotation": {
                        "roll": 0.0004774969711434096,
                        "pitch": -0.44008955359458923,
                        "yaw": -170.81561279296875
                    }
                },
                "velocity": {
                    "x": -9.117976188659668,
                    "y": -1.4742001295089722,
                    "z": -0.06653866916894913
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8975910544395447,
                "transform": {
                    "location": {
                        "x": 2953.427001953125,
                        "y": 4256.04638671875,
                        "z": 360.9052734375
                    },
                    "rotation": {
                        "roll": 0.005363584496080875,
                        "pitch": -0.36798325181007385,
                        "yaw": -171.98272705078125
                    }
                },
                "velocity": {
                    "x": -0.8863938450813293,
                    "y": -0.14119914174079895,
                    "z": -0.006194257643073797
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9175339937210083,
                "transform": {
                    "location": {
                        "x": 2899.9580078125,
                        "y": 4250.72509765625,
                        "z": 360.5076599121094
                    },
                    "rotation": {
                        "roll": -0.028717031702399254,
                        "pitch": -0.5743642449378967,
                        "yaw": -168.02569580078125
                    }
                },
                "velocity": {
                    "x": -0.9030556082725525,
                    "y": -0.16224458813667297,
                    "z": -0.005988511722534895
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00016734941164031625,
                "transform": {
                    "location": {
                        "x": 2896.817626953125,
                        "y": 4246.97509765625,
                        "z": 360.4920654296875
                    },
                    "rotation": {
                        "roll": -0.0047302222810685635,
                        "pitch": -0.39557039737701416,
                        "yaw": -170.09521484375
                    }
                },
                "velocity": {
                    "x": -1.5594659998896532e-05,
                    "y": 1.6964710084721446e-05,
                    "z": 0.00016575533663854003
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00010263127478538081,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.4146938156045508e-05,
                    "y": -1.3131182186043588e-06,
                    "z": 0.0001016430978779681
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9832819104194641,
        "expert_target_speed": 0,
        "target_point": [
            52.54337612723237,
            -1.2921022352732283
        ],
        "target_point_next": [
            94.52931519796489,
            -2.3786037460189657
        ]
    },
    "405": {
        "acceleration": [
            0.0008266478544101119,
            -0.0006747510633431375,
            -0.0021967454813420773
        ],
        "angular_velocity": [
            0.018967404961586,
            0.01409836020320654,
            5.7996650866698474e-05
        ],
        "forward_vector": [
            -0.9826689958572388,
            -0.18521584570407867,
            -0.007530259899795055
        ],
        "right_vector": [
            0.18521952629089355,
            -0.9826971888542175,
            0.00021357937657739967
        ],
        "location": [
            2942.1259765625,
            4254.40185546875,
            360.8108825683594
        ],
        "rotation": [
            -0.012237544171512127,
            -0.43145620822906494,
            -169.3259735107422
        ],
        "velocity": [
            3.0338018405018374e-05,
            -6.058932194719091e-05,
            0.00013197142106946558
        ],
        "speed": 6.776032242222275e-05,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.967673301696777,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2864.952392578125,
                        "y": 4251.72216796875,
                        "z": 360.33294677734375
                    },
                    "rotation": {
                        "roll": 3.3351394979064253e-09,
                        "pitch": 0.4119628369808197,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2867.93798828125,
                        "y": 4248.91259765625,
                        "z": 360.30780029296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.205045700073242,
                "transform": {
                    "location": {
                        "x": 2966.611572265625,
                        "y": 4261.4912109375,
                        "z": 361.0037841796875
                    },
                    "rotation": {
                        "roll": 0.0013042812934145331,
                        "pitch": -0.5283834338188171,
                        "yaw": -170.7411346435547
                    }
                },
                "velocity": {
                    "x": -10.072094917297363,
                    "y": -1.6396691799163818,
                    "z": -0.08575376123189926
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.077750205993652,
                "transform": {
                    "location": {
                        "x": 2905.6708984375,
                        "y": 4258.412109375,
                        "z": 360.5948791503906
                    },
                    "rotation": {
                        "roll": 0.0014591868966817856,
                        "pitch": 0.4127824604511261,
                        "yaw": 9.212821960449219
                    }
                },
                "velocity": {
                    "x": 7.97338342666626,
                    "y": 1.2930713891983032,
                    "z": 0.05627608299255371
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051602363586426,
                "transform": {
                    "location": {
                        "x": 2908.49462890625,
                        "y": 4255.57763671875,
                        "z": 360.576171875
                    },
                    "rotation": {
                        "roll": 0.0010331718949601054,
                        "pitch": 0.4056107699871063,
                        "yaw": 9.187542915344238
                    }
                },
                "velocity": {
                    "x": 7.9479217529296875,
                    "y": 1.2867069244384766,
                    "z": 0.056831665337085724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003602027893066,
                "transform": {
                    "location": {
                        "x": 2946.588623046875,
                        "y": 4265.03369140625,
                        "z": 360.8538513183594
                    },
                    "rotation": {
                        "roll": 7.021487544989213e-05,
                        "pitch": 0.4323236346244812,
                        "yaw": 9.19507884979248
                    }
                },
                "velocity": {
                    "x": 7.900652885437012,
                    "y": 1.2781695127487183,
                    "z": 0.06009829416871071
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001126289367676,
                "transform": {
                    "location": {
                        "x": 2950.171875,
                        "y": 4262.31982421875,
                        "z": 360.8775329589844
                    },
                    "rotation": {
                        "roll": 0.0014738375321030617,
                        "pitch": 0.44353196024894714,
                        "yaw": 9.19759464263916
                    }
                },
                "velocity": {
                    "x": 7.8979034423828125,
                    "y": 1.279617190361023,
                    "z": 0.06100938841700554
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.439047813415527,
                "transform": {
                    "location": {
                        "x": 2943.184326171875,
                        "y": 4257.69580078125,
                        "z": 360.81976318359375
                    },
                    "rotation": {
                        "roll": 0.0008499477989971638,
                        "pitch": -0.42061668634414673,
                        "yaw": -170.8052978515625
                    }
                },
                "velocity": {
                    "x": -10.304767608642578,
                    "y": -1.6672558784484863,
                    "z": -0.07577867060899734
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03515338897705,
                "transform": {
                    "location": {
                        "x": 2988.437744140625,
                        "y": 4271.80419921875,
                        "z": 361.2214050292969
                    },
                    "rotation": {
                        "roll": 0.0018250736175104976,
                        "pitch": 0.5340251326560974,
                        "yaw": 9.204204559326172
                    }
                },
                "velocity": {
                    "x": 7.931506633758545,
                    "y": 1.28437340259552,
                    "z": 0.07265207171440125
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016128540039062,
                "transform": {
                    "location": {
                        "x": 2994.256591796875,
                        "y": 4269.45263671875,
                        "z": 361.26312255859375
                    },
                    "rotation": {
                        "roll": -0.00012207147665321827,
                        "pitch": 0.5291142463684082,
                        "yaw": 9.197559356689453
                    }
                },
                "velocity": {
                    "x": 7.912736415863037,
                    "y": 1.2812483310699463,
                    "z": 0.07299814373254776
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6306905150413513,
                "transform": {
                    "location": {
                        "x": 2966.5283203125,
                        "y": 4258.17529296875,
                        "z": 361.0041198730469
                    },
                    "rotation": {
                        "roll": 0.005286609288305044,
                        "pitch": -0.502927303314209,
                        "yaw": -171.5835418701172
                    }
                },
                "velocity": {
                    "x": -0.6228210926055908,
                    "y": -0.09923345595598221,
                    "z": -0.004140195902436972
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.740200519561768,
                "transform": {
                    "location": {
                        "x": 2920.029541015625,
                        "y": 4253.94873046875,
                        "z": 360.6494140625
                    },
                    "rotation": {
                        "roll": 0.0013398254523053765,
                        "pitch": -0.4843764901161194,
                        "yaw": -170.80972290039062
                    }
                },
                "velocity": {
                    "x": -6.653536796569824,
                    "y": -1.076323390007019,
                    "z": -0.047753240913152695
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8889223337173462,
                "transform": {
                    "location": {
                        "x": 2953.1064453125,
                        "y": 4255.99658203125,
                        "z": 360.90228271484375
                    },
                    "rotation": {
                        "roll": -6.103568739490584e-05,
                        "pitch": -0.30740630626678467,
                        "yaw": -171.85740661621094
                    }
                },
                "velocity": {
                    "x": -1.8657456636428833,
                    "y": -0.2946398854255676,
                    "z": -0.014430894516408443
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4699,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5499740839004517,
                "transform": {
                    "location": {
                        "x": 2899.663330078125,
                        "y": 4250.67529296875,
                        "z": 360.50433349609375
                    },
                    "rotation": {
                        "roll": -0.018218994140625,
                        "pitch": -0.42614230513572693,
                        "yaw": -167.9760284423828
                    }
                },
                "velocity": {
                    "x": -1.5282849073410034,
                    "y": -0.2581937611103058,
                    "z": -0.010053329169750214
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8763756088446826e-05,
                "transform": {
                    "location": {
                        "x": 2896.817626953125,
                        "y": 4246.97509765625,
                        "z": 360.4920654296875
                    },
                    "rotation": {
                        "roll": -0.0047302222810685635,
                        "pitch": -0.39557039737701416,
                        "yaw": -170.09521484375
                    }
                },
                "velocity": {
                    "x": -1.2560113646031823e-05,
                    "y": -2.193162117691827e-06,
                    "z": 1.3766340089205187e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006333953351713717,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.4042258044355549e-05,
                    "y": -1.136081300501246e-05,
                    "z": 0.0006331377080641687
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9856221079826355,
        "expert_target_speed": 0,
        "target_point": [
            52.54337612723237,
            -1.2921022352732283
        ],
        "target_point_next": [
            94.52931519796489,
            -2.3786037460189657
        ]
    },
    "410": {
        "acceleration": [
            -0.0012440443970263004,
            0.0006419111741706729,
            -0.00968124344944954
        ],
        "angular_velocity": [
            0.0008647042559459805,
            -0.007199394982308149,
            -0.00010330053919460624
        ],
        "forward_vector": [
            -0.9826690554618835,
            -0.18521586060523987,
            -0.0075227501802146435
        ],
        "right_vector": [
            0.18521960079669952,
            -0.9826971888542175,
            0.00020292702538426965
        ],
        "location": [
            2942.1259765625,
            4254.40185546875,
            360.8108825683594
        ],
        "rotation": [
            -0.011627191677689552,
            -0.431025892496109,
            -169.3259735107422
        ],
        "velocity": [
            -3.547869710018858e-05,
            -1.630354927328881e-05,
            -7.236401870613918e-05
        ],
        "speed": 3.904540519489439e-05,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.967673301696777,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4700013399124146,
                "transform": {
                    "location": {
                        "x": 2985.115234375,
                        "y": 4264.58154296875,
                        "z": 361.4625549316406
                    },
                    "rotation": {
                        "roll": 6.670390018115313e-09,
                        "pitch": -0.5282331705093384,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.00013344119361136109,
                    "y": -2.1592635675915517e-05,
                    "z": -1.4700013399124146
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2867.0078125,
                        "y": 4252.05419921875,
                        "z": 360.3063659667969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2869.994384765625,
                        "y": 4249.24560546875,
                        "z": 360.3152160644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.990795135498047,
                "transform": {
                    "location": {
                        "x": 2964.15869140625,
                        "y": 4261.09228515625,
                        "z": 360.9828796386719
                    },
                    "rotation": {
                        "roll": 7.747625932097435e-05,
                        "pitch": -0.5018891096115112,
                        "yaw": -170.77047729492188
                    }
                },
                "velocity": {
                    "x": -9.861458778381348,
                    "y": -1.6001813411712646,
                    "z": -0.08388622850179672
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028898239135742,
                "transform": {
                    "location": {
                        "x": 2907.662109375,
                        "y": 4258.734375,
                        "z": 360.6090393066406
                    },
                    "rotation": {
                        "roll": 0.0008682453772053123,
                        "pitch": 0.39870545268058777,
                        "yaw": 9.202778816223145
                    }
                },
                "velocity": {
                    "x": 7.925348281860352,
                    "y": 1.2840690612792969,
                    "z": 0.05685693770647049
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042743682861328,
                "transform": {
                    "location": {
                        "x": 2910.48046875,
                        "y": 4255.8994140625,
                        "z": 360.5902404785156
                    },
                    "rotation": {
                        "roll": 0.00012004824384348467,
                        "pitch": 0.40607520937919617,
                        "yaw": 9.208867073059082
                    }
                },
                "velocity": {
                    "x": 7.93930721282959,
                    "y": 1.2844947576522827,
                    "z": 0.05659002065658569
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002792358398438,
                "transform": {
                    "location": {
                        "x": 2948.56396484375,
                        "y": 4265.3544921875,
                        "z": 360.8690185546875
                    },
                    "rotation": {
                        "roll": 0.00043727850425057113,
                        "pitch": 0.44199517369270325,
                        "yaw": 9.175835609436035
                    }
                },
                "velocity": {
                    "x": 7.8999152183532715,
                    "y": 1.2776464223861694,
                    "z": 0.060430724173784256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.997969627380371,
                "transform": {
                    "location": {
                        "x": 2952.1455078125,
                        "y": 4262.64013671875,
                        "z": 360.8930358886719
                    },
                    "rotation": {
                        "roll": 0.0008503008866682649,
                        "pitch": 0.44594985246658325,
                        "yaw": 9.211021423339844
                    }
                },
                "velocity": {
                    "x": 7.894874095916748,
                    "y": 1.27854323387146,
                    "z": 0.06170082092285156
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.480997085571289,
                "transform": {
                    "location": {
                        "x": 2940.720947265625,
                        "y": 4257.296875,
                        "z": 360.8016357421875
                    },
                    "rotation": {
                        "roll": 0.00019574681937228888,
                        "pitch": -0.4446999430656433,
                        "yaw": -170.82154846191406
                    }
                },
                "velocity": {
                    "x": -9.359220504760742,
                    "y": -1.5130577087402344,
                    "z": -0.07030075043439865
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03472900390625,
                "transform": {
                    "location": {
                        "x": 2990.420654296875,
                        "y": 4272.12451171875,
                        "z": 361.2398986816406
                    },
                    "rotation": {
                        "roll": -0.00036621137405745685,
                        "pitch": 0.5333557724952698,
                        "yaw": 9.183226585388184
                    }
                },
                "velocity": {
                    "x": 7.931113243103027,
                    "y": 1.2841269969940186,
                    "z": 0.07303087413311005
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.984521865844727,
                "transform": {
                    "location": {
                        "x": 2996.23046875,
                        "y": 4269.77197265625,
                        "z": 361.2815856933594
                    },
                    "rotation": {
                        "roll": 0.0002395670599071309,
                        "pitch": 0.5283287763595581,
                        "yaw": 9.199138641357422
                    }
                },
                "velocity": {
                    "x": 7.881470203399658,
                    "y": 1.2766611576080322,
                    "z": 0.07177087664604187
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4656773805618286,
                "transform": {
                    "location": {
                        "x": 2966.26708984375,
                        "y": 4258.13427734375,
                        "z": 361.0016174316406
                    },
                    "rotation": {
                        "roll": 0.00505696889013052,
                        "pitch": -0.46689122915267944,
                        "yaw": -171.5127410888672
                    }
                },
                "velocity": {
                    "x": -1.4472533464431763,
                    "y": -0.23134389519691467,
                    "z": -0.01216480229049921
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.696920156478882,
                "transform": {
                    "location": {
                        "x": 2918.71142578125,
                        "y": 4253.7353515625,
                        "z": 360.63995361328125
                    },
                    "rotation": {
                        "roll": 0.00020061152463313192,
                        "pitch": -0.513917088508606,
                        "yaw": -170.80503845214844
                    }
                },
                "velocity": {
                    "x": -3.649351119995117,
                    "y": -0.5904777646064758,
                    "z": -0.02814117819070816
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7571483850479126,
                "transform": {
                    "location": {
                        "x": 2952.599853515625,
                        "y": 4255.9189453125,
                        "z": 360.8991394042969
                    },
                    "rotation": {
                        "roll": 0.005313287489116192,
                        "pitch": -0.4124751091003418,
                        "yaw": -171.5983428955078
                    }
                },
                "velocity": {
                    "x": -0.7481119632720947,
                    "y": -0.11650758236646652,
                    "z": -0.005304202903062105
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003559972974471748,
                "transform": {
                    "location": {
                        "x": 2896.817626953125,
                        "y": 4246.97509765625,
                        "z": 360.4920654296875
                    },
                    "rotation": {
                        "roll": -0.0047302222810685635,
                        "pitch": -0.39557039737701416,
                        "yaw": -170.09521484375
                    }
                },
                "velocity": {
                    "x": -1.2575313121487852e-05,
                    "y": -5.31468549525016e-06,
                    "z": 0.0003557354211807251
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00036006770096719265,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.6472786228405312e-05,
                    "y": -6.262920578592457e-06,
                    "z": 0.00035963617847301066
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9851962327957153,
        "expert_target_speed": 0,
        "target_point": [
            52.54337674334875,
            -1.292077180638925
        ],
        "target_point_next": [
            94.5293163321608,
            -2.3785586709286726
        ]
    },
    "415": {
        "acceleration": [
            -0.5239072442054749,
            -0.17815259099006653,
            -0.0018348684534430504
        ],
        "angular_velocity": [
            -0.04481836408376694,
            0.23102732002735138,
            -1.9367477893829346
        ],
        "forward_vector": [
            -0.9830787181854248,
            -0.18306493759155273,
            -0.006587577052414417
        ],
        "right_vector": [
            0.18307054042816162,
            -0.9830996990203857,
            -0.0002540607238188386
        ],
        "location": [
            2942.10302734375,
            4254.400390625,
            360.81048583984375
        ],
        "rotation": [
            0.01455692294985056,
            -0.3774430751800537,
            -169.45143127441406
        ],
        "velocity": [
            -0.20717814564704895,
            -0.011581779457628727,
            -0.0019990538712590933
        ],
        "speed": 0.20750161842538717,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.945141792297363,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.12629251182079315,
                "transform": {
                    "location": {
                        "x": 2985.116455078125,
                        "y": 4264.58154296875,
                        "z": 361.1076965332031
                    },
                    "rotation": {
                        "roll": -0.0018005376914516091,
                        "pitch": -0.5258767008781433,
                        "yaw": -170.8082733154297
                    }
                },
                "velocity": {
                    "x": 0.0011032138718292117,
                    "y": 0.00032565800938755274,
                    "z": -0.12628726661205292
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2869.06396484375,
                        "y": 4252.3876953125,
                        "z": 360.3137512207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2872.050537109375,
                        "y": 4249.578125,
                        "z": 360.32537841796875
                    },
                    "rotation": {
                        "roll": 6.6702643408689255e-09,
                        "pitch": 0.3941360414028168,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.734613418579102,
                "transform": {
                    "location": {
                        "x": 2961.579833984375,
                        "y": 4260.673828125,
                        "z": 360.96087646484375
                    },
                    "rotation": {
                        "roll": -0.0006103489431552589,
                        "pitch": -0.4347551763057709,
                        "yaw": -170.7814178466797
                    }
                },
                "velocity": {
                    "x": -10.595596313476562,
                    "y": -1.719748616218567,
                    "z": -0.08794097602367401
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.983065128326416,
                "transform": {
                    "location": {
                        "x": 2909.6328125,
                        "y": 4259.05419921875,
                        "z": 360.62298583984375
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": 0.4028991758823395,
                        "yaw": 9.202323913574219
                    }
                },
                "velocity": {
                    "x": 7.880136489868164,
                    "y": 1.276565432548523,
                    "z": 0.05622892081737518
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045100212097168,
                "transform": {
                    "location": {
                        "x": 2912.465576171875,
                        "y": 4256.21923828125,
                        "z": 360.6044006347656
                    },
                    "rotation": {
                        "roll": 0.0008677426958456635,
                        "pitch": 0.40692898631095886,
                        "yaw": 9.170734405517578
                    }
                },
                "velocity": {
                    "x": 7.941664695739746,
                    "y": 1.284653902053833,
                    "z": 0.057117052376270294
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002385139465332,
                "transform": {
                    "location": {
                        "x": 2950.53857421875,
                        "y": 4265.67431640625,
                        "z": 360.8844299316406
                    },
                    "rotation": {
                        "roll": -0.00012206659448565915,
                        "pitch": 0.44325193762779236,
                        "yaw": 9.197002410888672
                    }
                },
                "velocity": {
                    "x": 7.899522304534912,
                    "y": 1.2775123119354248,
                    "z": 0.06063919886946678
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002079963684082,
                "transform": {
                    "location": {
                        "x": 2954.11962890625,
                        "y": 4262.96044921875,
                        "z": 360.9086608886719
                    },
                    "rotation": {
                        "roll": 0.00047201834968291223,
                        "pitch": 0.45580580830574036,
                        "yaw": 9.182147026062012
                    }
                },
                "velocity": {
                    "x": 7.899013519287109,
                    "y": 1.2785946130752563,
                    "z": 0.06378118693828583
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.106743812561035,
                "transform": {
                    "location": {
                        "x": 2938.52294921875,
                        "y": 4256.939453125,
                        "z": 360.78546142578125
                    },
                    "rotation": {
                        "roll": 0.0017975871451199055,
                        "pitch": -0.4689880907535553,
                        "yaw": -171.08102416992188
                    }
                },
                "velocity": {
                    "x": -8.002830505371094,
                    "y": -1.2924572229385376,
                    "z": -0.059587154537439346
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034307479858398,
                "transform": {
                    "location": {
                        "x": 2992.4033203125,
                        "y": 4272.44482421875,
                        "z": 361.2584228515625
                    },
                    "rotation": {
                        "roll": -0.0007019056938588619,
                        "pitch": 0.5337929129600525,
                        "yaw": 9.212063789367676
                    }
                },
                "velocity": {
                    "x": 7.930693626403809,
                    "y": 1.2841004133224487,
                    "z": 0.07265867292881012
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016711235046387,
                "transform": {
                    "location": {
                        "x": 2998.205322265625,
                        "y": 4270.09130859375,
                        "z": 361.29998779296875
                    },
                    "rotation": {
                        "roll": 0.0006064552580937743,
                        "pitch": 0.5288273692131042,
                        "yaw": 9.200939178466797
                    }
                },
                "velocity": {
                    "x": 7.913247108459473,
                    "y": 1.281750202178955,
                    "z": 0.0727793499827385
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1723506450653076,
                "transform": {
                    "location": {
                        "x": 2965.80810546875,
                        "y": 4258.06201171875,
                        "z": 360.9976806640625
                    },
                    "rotation": {
                        "roll": 0.004204015247523785,
                        "pitch": -0.46365371346473694,
                        "yaw": -171.36929321289062
                    }
                },
                "velocity": {
                    "x": -2.1447434425354004,
                    "y": -0.34477362036705017,
                    "z": -0.01772308349609375
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.369389057159424,
                "transform": {
                    "location": {
                        "x": 2917.7236328125,
                        "y": 4253.57568359375,
                        "z": 360.6318664550781
                    },
                    "rotation": {
                        "roll": 2.4873485017451458e-05,
                        "pitch": -0.41750213503837585,
                        "yaw": -170.80633544921875
                    }
                },
                "velocity": {
                    "x": -4.313161373138428,
                    "y": -0.6980506181716919,
                    "z": -0.030452612787485123
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002887511858716607,
                "transform": {
                    "location": {
                        "x": 2952.595947265625,
                        "y": 4255.91845703125,
                        "z": 360.90252685546875
                    },
                    "rotation": {
                        "roll": 0.015733296051621437,
                        "pitch": -0.8332557082176208,
                        "yaw": -171.59115600585938
                    }
                },
                "velocity": {
                    "x": 0.0026722054462879896,
                    "y": 0.0008985997410491109,
                    "z": -0.000624148000497371
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.461785910185426e-05,
                "transform": {
                    "location": {
                        "x": 2896.817626953125,
                        "y": 4246.97509765625,
                        "z": 360.4920654296875
                    },
                    "rotation": {
                        "roll": -0.0047302222810685635,
                        "pitch": -0.39557039737701416,
                        "yaw": -170.09521484375
                    }
                },
                "velocity": {
                    "x": -7.792934411554597e-06,
                    "y": -1.3187173863116186e-05,
                    "z": 8.321989298565313e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010345913469791412,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -2.2577047275262885e-05,
                    "y": -2.27726059165434e-06,
                    "z": 0.0010343424510210752
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9859215617179871,
        "expert_target_speed": 0,
        "target_point": [
            52.52325041309816,
            -1.1742621019017054
        ],
        "target_point_next": [
            94.51146834834738,
            -2.168807126590062
        ]
    },
    "420": {
        "acceleration": [
            -2.484145164489746,
            0.1623436063528061,
            -0.013640020042657852
        ],
        "angular_velocity": [
            0.012156401760876179,
            0.23282462358474731,
            -4.206802845001221
        ],
        "forward_vector": [
            -0.9855751395225525,
            -0.16919036209583282,
            -0.004031409043818712
        ],
        "right_vector": [
            0.169198676943779,
            -0.9855802059173584,
            -0.0018188261892646551
        ],
        "location": [
            2941.958251953125,
            4254.39404296875,
            360.80889892578125
        ],
        "rotation": [
            0.1042119711637497,
            -0.23098333179950714,
            -170.25917053222656
        ],
        "velocity": [
            -0.8772150278091431,
            -0.01606038026511669,
            -0.006275109946727753
        ],
        "speed": 0.8773620352103547,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.803823471069336,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.18376362323760986,
                "transform": {
                    "location": {
                        "x": 2985.115966796875,
                        "y": 4264.58154296875,
                        "z": 361.1542053222656
                    },
                    "rotation": {
                        "roll": -0.001129153068177402,
                        "pitch": -0.5257196426391602,
                        "yaw": -170.80831909179688
                    }
                },
                "velocity": {
                    "x": -0.001691267709247768,
                    "y": -0.0002300554042449221,
                    "z": 0.18375569581985474
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2871.12060546875,
                        "y": 4252.720703125,
                        "z": 360.3226013183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.614831924438477,
                "transform": {
                    "location": {
                        "x": 2873.829833984375,
                        "y": 4249.8681640625,
                        "z": 360.3338623046875
                    },
                    "rotation": {
                        "roll": -0.0020141659770160913,
                        "pitch": 0.36365973949432373,
                        "yaw": 9.322903633117676
                    }
                },
                "velocity": {
                    "x": 6.522578716278076,
                    "y": 1.1005939245224,
                    "z": 0.025787943974137306
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.546856880187988,
                "transform": {
                    "location": {
                        "x": 2959.061279296875,
                        "y": 4260.26513671875,
                        "z": 360.94073486328125
                    },
                    "rotation": {
                        "roll": 0.000699652184266597,
                        "pitch": -0.5135414004325867,
                        "yaw": -170.7864227294922
                    }
                },
                "velocity": {
                    "x": -9.42341136932373,
                    "y": -1.5284053087234497,
                    "z": -0.07601196318864822
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.072530746459961,
                "transform": {
                    "location": {
                        "x": 2911.6171875,
                        "y": 4259.375,
                        "z": 360.63714599609375
                    },
                    "rotation": {
                        "roll": 0.00023273266560863703,
                        "pitch": 0.41099977493286133,
                        "yaw": 9.193085670471191
                    }
                },
                "velocity": {
                    "x": 7.969010829925537,
                    "y": 1.2873769998550415,
                    "z": 0.05720872804522514
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046615600585938,
                "transform": {
                    "location": {
                        "x": 2914.451171875,
                        "y": 4256.541015625,
                        "z": 360.6186218261719
                    },
                    "rotation": {
                        "roll": 0.00011426849232520908,
                        "pitch": 0.40840432047843933,
                        "yaw": 9.209147453308105
                    }
                },
                "velocity": {
                    "x": 7.943114280700684,
                    "y": 1.2851978540420532,
                    "z": 0.056790225207805634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002052307128906,
                "transform": {
                    "location": {
                        "x": 2952.513671875,
                        "y": 4265.99462890625,
                        "z": 360.8999938964844
                    },
                    "rotation": {
                        "roll": -0.0006103503401391208,
                        "pitch": 0.45103150606155396,
                        "yaw": 9.174288749694824
                    }
                },
                "velocity": {
                    "x": 7.899295330047607,
                    "y": 1.2766863107681274,
                    "z": 0.06358736008405685
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00441837310791,
                "transform": {
                    "location": {
                        "x": 2956.094970703125,
                        "y": 4263.28076171875,
                        "z": 360.9245910644531
                    },
                    "rotation": {
                        "roll": 0.0001255720853805542,
                        "pitch": 0.4573562741279602,
                        "yaw": 9.199259757995605
                    }
                },
                "velocity": {
                    "x": 7.901470184326172,
                    "y": 1.278006672859192,
                    "z": 0.06466468423604965
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.088083267211914,
                "transform": {
                    "location": {
                        "x": 2936.5537109375,
                        "y": 4256.62109375,
                        "z": 360.77044677734375
                    },
                    "rotation": {
                        "roll": 0.003605443285778165,
                        "pitch": -0.43524011969566345,
                        "yaw": -171.18190002441406
                    }
                },
                "velocity": {
                    "x": -7.985174179077148,
                    "y": -1.284681797027588,
                    "z": -0.06062812730669975
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034523010253906,
                "transform": {
                    "location": {
                        "x": 2994.385986328125,
                        "y": 4272.76513671875,
                        "z": 361.2769470214844
                    },
                    "rotation": {
                        "roll": 0.00038474175380542874,
                        "pitch": 0.5337724089622498,
                        "yaw": 9.190439224243164
                    }
                },
                "velocity": {
                    "x": 7.930747032165527,
                    "y": 1.2851388454437256,
                    "z": 0.07231351733207703
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.984376907348633,
                "transform": {
                    "location": {
                        "x": 3000.17919921875,
                        "y": 4270.41064453125,
                        "z": 361.31842041015625
                    },
                    "rotation": {
                        "roll": 0.0004985349951311946,
                        "pitch": 0.5288273692131042,
                        "yaw": 9.203880310058594
                    }
                },
                "velocity": {
                    "x": 7.881245136260986,
                    "y": 1.2770795822143555,
                    "z": 0.0729294940829277
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.943598985671997,
                "transform": {
                    "location": {
                        "x": 2965.31494140625,
                        "y": 4257.98388671875,
                        "z": 360.9937744140625
                    },
                    "rotation": {
                        "roll": 0.0035952513571828604,
                        "pitch": -0.48251184821128845,
                        "yaw": -171.24032592773438
                    }
                },
                "velocity": {
                    "x": -1.9187651872634888,
                    "y": -0.30928367376327515,
                    "z": -0.016148433089256287
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.2942795753479,
                "transform": {
                    "location": {
                        "x": 2916.522216796875,
                        "y": 4253.38134765625,
                        "z": 360.62322998046875
                    },
                    "rotation": {
                        "roll": 0.00030624790815636516,
                        "pitch": -0.3773815929889679,
                        "yaw": -170.8043975830078
                    }
                },
                "velocity": {
                    "x": -5.2261552810668945,
                    "y": -0.8458258509635925,
                    "z": -0.03576023504137993
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0022711551282554865,
                "transform": {
                    "location": {
                        "x": 2952.593017578125,
                        "y": 4255.91748046875,
                        "z": 360.8994445800781
                    },
                    "rotation": {
                        "roll": 0.00571183068677783,
                        "pitch": -0.457636296749115,
                        "yaw": -171.59104919433594
                    }
                },
                "velocity": {
                    "x": 0.0018566014477983117,
                    "y": 0.0005309131229296327,
                    "z": -0.001195536577142775
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004471489228308201,
                "transform": {
                    "location": {
                        "x": 2896.817626953125,
                        "y": 4246.97509765625,
                        "z": 360.4920654296875
                    },
                    "rotation": {
                        "roll": -0.0047302222810685635,
                        "pitch": -0.39557039737701416,
                        "yaw": -170.09521484375
                    }
                },
                "velocity": {
                    "x": -1.1187493328179698e-05,
                    "y": -1.5679634088883176e-05,
                    "z": 0.0004467338731046766
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000500174704939127,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.8669217752176337e-05,
                    "y": 9.519606464891694e-06,
                    "z": 0.0004997354699298739
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9997743368148804,
        "expert_target_speed": 10.0,
        "target_point": [
            52.39082260913237,
            -0.41549978796057196
        ],
        "target_point_next": [
            94.38888827348426,
            -0.8180487128160951
        ]
    },
    "425": {
        "acceleration": [
            -2.3984193801879883,
            0.5413491725921631,
            0.0020236894488334656
        ],
        "angular_velocity": [
            0.42103877663612366,
            0.1276589184999466,
            -11.307065963745117
        ],
        "forward_vector": [
            -0.9911356568336487,
            -0.13282543420791626,
            -0.0027328692376613617
        ],
        "right_vector": [
            0.13283595442771912,
            -0.991129457950592,
            -0.0041143037378787994
        ],
        "location": [
            2941.636474609375,
            4254.39501953125,
            360.8062744140625
        ],
        "rotation": [
            0.2357337772846222,
            -0.1565820723772049,
            -172.36708068847656
        ],
        "velocity": [
            -1.605878233909607,
            0.08733739703893661,
            -0.01073177345097065
        ],
        "speed": 1.608251448955099,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.494256973266602,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0920509099960327,
                "transform": {
                    "location": {
                        "x": 2985.0673828125,
                        "y": 4264.5732421875,
                        "z": 361.1741638183594
                    },
                    "rotation": {
                        "roll": -0.0009155248408205807,
                        "pitch": -0.5081455707550049,
                        "yaw": -170.81541442871094
                    }
                },
                "velocity": {
                    "x": -1.0760523080825806,
                    "y": -0.18600274622440338,
                    "z": 0.009461288340389729
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.665615558624268,
                "transform": {
                    "location": {
                        "x": 2872.9677734375,
                        "y": 4253.0224609375,
                        "z": 360.3350830078125
                    },
                    "rotation": {
                        "roll": 0.01525983214378357,
                        "pitch": 0.5564759969711304,
                        "yaw": 9.321649551391602
                    }
                },
                "velocity": {
                    "x": 6.569695472717285,
                    "y": 1.1253482103347778,
                    "z": 0.055894240736961365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.8106818199157715,
                "transform": {
                    "location": {
                        "x": 2875.4853515625,
                        "y": 4250.14990234375,
                        "z": 360.34295654296875
                    },
                    "rotation": {
                        "roll": 0.000903763750102371,
                        "pitch": 0.39073461294174194,
                        "yaw": 9.683433532714844
                    }
                },
                "velocity": {
                    "x": 6.7097978591918945,
                    "y": 1.1670572757720947,
                    "z": 0.04445497319102287
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.150055885314941,
                "transform": {
                    "location": {
                        "x": 2956.906494140625,
                        "y": 4259.91552734375,
                        "z": 360.9234619140625
                    },
                    "rotation": {
                        "roll": -0.00048827705904841423,
                        "pitch": -0.5431434512138367,
                        "yaw": -170.79942321777344
                    }
                },
                "velocity": {
                    "x": -8.044978141784668,
                    "y": -1.302917718887329,
                    "z": -0.06437528878450394
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.988038063049316,
                "transform": {
                    "location": {
                        "x": 2913.59814453125,
                        "y": 4259.69580078125,
                        "z": 360.65130615234375
                    },
                    "rotation": {
                        "roll": -0.0013732921797782183,
                        "pitch": 0.4035070538520813,
                        "yaw": 9.18861198425293
                    }
                },
                "velocity": {
                    "x": 7.885315418243408,
                    "y": 1.2756893634796143,
                    "z": 0.05630902200937271
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045342445373535,
                "transform": {
                    "location": {
                        "x": 2916.436767578125,
                        "y": 4256.86279296875,
                        "z": 360.6328430175781
                    },
                    "rotation": {
                        "roll": 0.0005997680709697306,
                        "pitch": 0.4116145074367523,
                        "yaw": 9.17905330657959
                    }
                },
                "velocity": {
                    "x": 7.941745281219482,
                    "y": 1.2856783866882324,
                    "z": 0.0569809153676033
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002622604370117,
                "transform": {
                    "location": {
                        "x": 2954.48828125,
                        "y": 4266.31298828125,
                        "z": 360.9158630371094
                    },
                    "rotation": {
                        "roll": -0.00048827732098288834,
                        "pitch": 0.4571240544319153,
                        "yaw": 9.192435264587402
                    }
                },
                "velocity": {
                    "x": 7.899689197540283,
                    "y": 1.2777602672576904,
                    "z": 0.06482259929180145
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001638412475586,
                "transform": {
                    "location": {
                        "x": 2958.06982421875,
                        "y": 4263.6005859375,
                        "z": 360.9407043457031
                    },
                    "rotation": {
                        "roll": 6.436861781367043e-07,
                        "pitch": 0.46167296171188354,
                        "yaw": 9.170828819274902
                    }
                },
                "velocity": {
                    "x": 7.898926734924316,
                    "y": 1.2763224840164185,
                    "z": 0.0645732507109642
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.78981876373291,
                "transform": {
                    "location": {
                        "x": 2934.45703125,
                        "y": 4256.28564453125,
                        "z": 360.7545166015625
                    },
                    "rotation": {
                        "roll": 0.0007870282861404121,
                        "pitch": -0.39977094531059265,
                        "yaw": -170.97433471679688
                    }
                },
                "velocity": {
                    "x": -8.677781105041504,
                    "y": -1.3974443674087524,
                    "z": -0.06459260731935501
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034701347351074,
                "transform": {
                    "location": {
                        "x": 2996.36865234375,
                        "y": 4273.08740234375,
                        "z": 361.29547119140625
                    },
                    "rotation": {
                        "roll": 0.0013564383843913674,
                        "pitch": 0.5336631536483765,
                        "yaw": 9.220237731933594
                    }
                },
                "velocity": {
                    "x": 7.930843353271484,
                    "y": 1.2856485843658447,
                    "z": 0.07244731485843658
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01612377166748,
                "transform": {
                    "location": {
                        "x": 3002.153564453125,
                        "y": 4270.72998046875,
                        "z": 361.33697509765625
                    },
                    "rotation": {
                        "roll": 0.001145086600445211,
                        "pitch": 0.5329391360282898,
                        "yaw": 9.205365180969238
                    }
                },
                "velocity": {
                    "x": 7.912564754486084,
                    "y": 1.2822482585906982,
                    "z": 0.0734943374991417
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.986840844154358,
                "transform": {
                    "location": {
                        "x": 2964.795654296875,
                        "y": 4257.90087890625,
                        "z": 360.9893798828125
                    },
                    "rotation": {
                        "roll": 0.0023994699586182833,
                        "pitch": -0.47555190324783325,
                        "yaw": -171.13497924804688
                    }
                },
                "velocity": {
                    "x": -1.9613622426986694,
                    "y": -0.316729873418808,
                    "z": -0.016634387895464897
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.586541175842285,
                "transform": {
                    "location": {
                        "x": 2915.201416015625,
                        "y": 4253.16748046875,
                        "z": 360.61383056640625
                    },
                    "rotation": {
                        "roll": -6.10395654803142e-05,
                        "pitch": -0.3906799554824829,
                        "yaw": -170.85813903808594
                    }
                },
                "velocity": {
                    "x": -5.514869213104248,
                    "y": -0.8911476731300354,
                    "z": -0.03897140920162201
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.01742018386721611,
                "transform": {
                    "location": {
                        "x": 2952.592041015625,
                        "y": 4255.91748046875,
                        "z": 360.89892578125
                    },
                    "rotation": {
                        "roll": 0.005090293940156698,
                        "pitch": -0.3974623382091522,
                        "yaw": -171.5909881591797
                    }
                },
                "velocity": {
                    "x": -0.01703066937625408,
                    "y": -0.003143422771245241,
                    "z": -0.0018809508765116334
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.011532443575561047,
                "transform": {
                    "location": {
                        "x": 2896.818115234375,
                        "y": 4246.97509765625,
                        "z": 360.4920654296875
                    },
                    "rotation": {
                        "roll": -0.004913331009447575,
                        "pitch": -0.39639684557914734,
                        "yaw": -170.09523010253906
                    }
                },
                "velocity": {
                    "x": 0.011386745609343052,
                    "y": 0.0018257669871672988,
                    "z": 7.653236389160156e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.310496584977955e-05,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.5006288776930887e-05,
                    "y": 4.108622761123115e-06,
                    "z": 7.143014954635873e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0008654594421387,
        "expert_target_speed": 10.0,
        "target_point": [
            52.05185748051577,
            1.5555077301093032
        ],
        "target_point_next": [
            94.03631062880159,
            2.697987061874052
        ]
    },
    "430": {
        "acceleration": [
            -4.424018859863281,
            1.1898446083068848,
            -0.04345852881669998
        ],
        "angular_velocity": [
            0.7753759026527405,
            0.5520938038825989,
            -18.77390480041504
        ],
        "forward_vector": [
            -0.9977713227272034,
            -0.06671510636806488,
            -0.001208543311804533
        ],
        "right_vector": [
            0.06672216951847076,
            -0.9977448582649231,
            -0.007295771036297083
        ],
        "location": [
            2941.11669921875,
            4254.4326171875,
            360.80224609375
        ],
        "rotation": [
            0.41802090406417847,
            -0.06924445182085037,
            -176.17466735839844
        ],
        "velocity": [
            -2.5803890228271484,
            0.32563868165016174,
            -0.01834150217473507
        ],
        "speed": 2.600855255509945,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.006524085998535,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.6613097190856934,
                "transform": {
                    "location": {
                        "x": 2984.556396484375,
                        "y": 4264.48681640625,
                        "z": 361.1697082519531
                    },
                    "rotation": {
                        "roll": -0.0029296865686774254,
                        "pitch": -0.48711541295051575,
                        "yaw": -170.69615173339844
                    }
                },
                "velocity": {
                    "x": -2.622864007949829,
                    "y": -0.4498671889305115,
                    "z": -0.027812881395220757
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.556468486785889,
                "transform": {
                    "location": {
                        "x": 2874.595458984375,
                        "y": 4253.3017578125,
                        "z": 360.3487854003906
                    },
                    "rotation": {
                        "roll": 0.009955779649317265,
                        "pitch": 0.4251519441604614,
                        "yaw": 9.657492637634277
                    }
                },
                "velocity": {
                    "x": 6.458958148956299,
                    "y": 1.1255427598953247,
                    "z": 0.04791528731584549
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.547603130340576,
                "transform": {
                    "location": {
                        "x": 2877.12939453125,
                        "y": 4250.43505859375,
                        "z": 360.3543701171875
                    },
                    "rotation": {
                        "roll": 0.003811529139056802,
                        "pitch": 0.39502397179603577,
                        "yaw": 9.886805534362793
                    }
                },
                "velocity": {
                    "x": 6.451148509979248,
                    "y": 1.1188244819641113,
                    "z": 0.04493989050388336
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.372435569763184,
                "transform": {
                    "location": {
                        "x": 2954.89794921875,
                        "y": 4259.59033203125,
                        "z": 360.9067077636719
                    },
                    "rotation": {
                        "roll": 3.7714016798418015e-05,
                        "pitch": -0.46456894278526306,
                        "yaw": -170.80465698242188
                    }
                },
                "velocity": {
                    "x": -8.264575958251953,
                    "y": -1.337965726852417,
                    "z": -0.06558848917484283
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045412063598633,
                "transform": {
                    "location": {
                        "x": 2915.575927734375,
                        "y": 4260.015625,
                        "z": 360.6654968261719
                    },
                    "rotation": {
                        "roll": 0.00017920034588314593,
                        "pitch": 0.41115686297416687,
                        "yaw": 9.189201354980469
                    }
                },
                "velocity": {
                    "x": 7.941969394683838,
                    "y": 1.284737229347229,
                    "z": 0.0568639375269413
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045952796936035,
                "transform": {
                    "location": {
                        "x": 2918.42236328125,
                        "y": 4257.18359375,
                        "z": 360.6471862792969
                    },
                    "rotation": {
                        "roll": -9.155291627394035e-05,
                        "pitch": 0.4120243191719055,
                        "yaw": 9.208984375
                    }
                },
                "velocity": {
                    "x": 7.9422807693481445,
                    "y": 1.2861837148666382,
                    "z": 0.0571371354162693
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002177238464355,
                "transform": {
                    "location": {
                        "x": 2956.46337890625,
                        "y": 4266.63232421875,
                        "z": 360.9317932128906
                    },
                    "rotation": {
                        "roll": 0.0003766795271076262,
                        "pitch": 0.45661860704421997,
                        "yaw": 9.171874046325684
                    }
                },
                "velocity": {
                    "x": 7.89932107925415,
                    "y": 1.2772769927978516,
                    "z": 0.06432554125785828
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001386642456055,
                "transform": {
                    "location": {
                        "x": 2960.044677734375,
                        "y": 4263.91845703125,
                        "z": 360.9568176269531
                    },
                    "rotation": {
                        "roll": 0.0008118227124214172,
                        "pitch": 0.4704838991165161,
                        "yaw": 9.186945915222168
                    }
                },
                "velocity": {
                    "x": 7.898662567138672,
                    "y": 1.2763715982437134,
                    "z": 0.06475360691547394
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.915209770202637,
                "transform": {
                    "location": {
                        "x": 2932.273681640625,
                        "y": 4255.93505859375,
                        "z": 360.73834228515625
                    },
                    "rotation": {
                        "roll": -0.0014038130175322294,
                        "pitch": -0.4093332290649414,
                        "yaw": -170.7652130126953
                    }
                },
                "velocity": {
                    "x": -8.800454139709473,
                    "y": -1.424338936805725,
                    "z": -0.06499607115983963
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034162521362305,
                "transform": {
                    "location": {
                        "x": 2998.3515625,
                        "y": 4273.40869140625,
                        "z": 361.31396484375
                    },
                    "rotation": {
                        "roll": 0.0010694210650399327,
                        "pitch": 0.5328640341758728,
                        "yaw": 9.18919849395752
                    }
                },
                "velocity": {
                    "x": 7.9305853843688965,
                    "y": 1.283838152885437,
                    "z": 0.07301735132932663
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.984121799468994,
                "transform": {
                    "location": {
                        "x": 3004.127685546875,
                        "y": 4271.04931640625,
                        "z": 361.3554992675781
                    },
                    "rotation": {
                        "roll": 0.0017335527809336782,
                        "pitch": 0.5347764492034912,
                        "yaw": 9.20560359954834
                    }
                },
                "velocity": {
                    "x": 7.880948543548584,
                    "y": 1.2772326469421387,
                    "z": 0.07438554614782333
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1407785415649414,
                "transform": {
                    "location": {
                        "x": 2964.319091796875,
                        "y": 4257.82421875,
                        "z": 360.9853515625
                    },
                    "rotation": {
                        "roll": 0.0025386193301528692,
                        "pitch": -0.47387850284576416,
                        "yaw": -171.0596160888672
                    }
                },
                "velocity": {
                    "x": -2.1132822036743164,
                    "y": -0.34152618050575256,
                    "z": -0.01819557137787342
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.7350873947143555,
                "transform": {
                    "location": {
                        "x": 2913.6689453125,
                        "y": 4252.92041015625,
                        "z": 360.60260009765625
                    },
                    "rotation": {
                        "roll": 0.0002789330028463155,
                        "pitch": -0.37085193395614624,
                        "yaw": -170.79776000976562
                    }
                },
                "velocity": {
                    "x": -6.648537635803223,
                    "y": -1.0752582550048828,
                    "z": -0.046598341315984726
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.029107647016644478,
                "transform": {
                    "location": {
                        "x": 2952.5869140625,
                        "y": 4255.9169921875,
                        "z": 360.899169921875
                    },
                    "rotation": {
                        "roll": 0.005823070183396339,
                        "pitch": -0.43926993012428284,
                        "yaw": -171.58993530273438
                    }
                },
                "velocity": {
                    "x": -0.028765935450792313,
                    "y": -0.004129783716052771,
                    "z": -0.0016495226882398129
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.02586399018764496,
                "transform": {
                    "location": {
                        "x": 2896.81591796875,
                        "y": 4246.97509765625,
                        "z": 360.4920349121094
                    },
                    "rotation": {
                        "roll": -0.004852292127907276,
                        "pitch": -0.39144495129585266,
                        "yaw": -170.09576416015625
                    }
                },
                "velocity": {
                    "x": -0.025529829785227776,
                    "y": -0.004126608371734619,
                    "z": 0.0003806972526945174
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008066697628237307,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -2.0539686374831945e-05,
                    "y": -3.329729679535376e-06,
                    "z": 0.0008064013672992587
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9995511174201965,
        "expert_target_speed": 10.0,
        "target_point": [
            51.31755866700499,
            5.080819920791365
        ],
        "target_point_next": [
            93.13347149965591,
            9.00879639173112
        ]
    },
    "435": {
        "acceleration": [
            -4.8943328857421875,
            2.2091829776763916,
            -0.030350126326084137
        ],
        "angular_velocity": [
            1.0869613885879517,
            0.38779228925704956,
            -25.480527877807617
        ],
        "forward_vector": [
            -0.9995623826980591,
            0.029560446739196777,
            0.0010685918387025595
        ],
        "right_vector": [
            -0.02957048825919628,
            -0.9995011687278748,
            -0.011086166836321354
        ],
        "location": [
            2940.312744140625,
            4254.54541015625,
            360.79608154296875
        ],
        "rotation": [
            0.6352039575576782,
            0.06122581288218498,
            178.30606079101562
        ],
        "velocity": [
            -3.810167074203491,
            0.7610084414482117,
            -0.02675667218863964
        ],
        "speed": 3.8854223684562053,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.278205871582031,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.519467830657959,
                "transform": {
                    "location": {
                        "x": 2983.786865234375,
                        "y": 4264.35595703125,
                        "z": 361.1621398925781
                    },
                    "rotation": {
                        "roll": -0.0032043440733104944,
                        "pitch": -0.49938926100730896,
                        "yaw": -170.53533935546875
                    }
                },
                "velocity": {
                    "x": -3.468187093734741,
                    "y": -0.5977062582969666,
                    "z": -0.032849572598934174
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.602724075317383,
                "transform": {
                    "location": {
                        "x": 2876.216064453125,
                        "y": 4253.583984375,
                        "z": 360.3605041503906
                    },
                    "rotation": {
                        "roll": 0.006124984472990036,
                        "pitch": 0.3977150619029999,
                        "yaw": 9.817416191101074
                    }
                },
                "velocity": {
                    "x": 6.503897666931152,
                    "y": 1.1371960639953613,
                    "z": 0.045376308262348175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.114734649658203,
                "transform": {
                    "location": {
                        "x": 2878.800537109375,
                        "y": 4250.72216796875,
                        "z": 360.3659362792969
                    },
                    "rotation": {
                        "roll": 0.0056289853528141975,
                        "pitch": 0.40300846099853516,
                        "yaw": 9.753564834594727
                    }
                },
                "velocity": {
                    "x": 7.014256000518799,
                    "y": 1.190495252609253,
                    "z": 0.04880897328257561
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.53298568725586,
                "transform": {
                    "location": {
                        "x": 2952.6875,
                        "y": 4259.23291015625,
                        "z": 360.8887023925781
                    },
                    "rotation": {
                        "roll": 0.001292676548473537,
                        "pitch": -0.390775591135025,
                        "yaw": -170.80494689941406
                    }
                },
                "velocity": {
                    "x": -9.410192489624023,
                    "y": -1.523385763168335,
                    "z": -0.07346829026937485
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.012743949890137,
                "transform": {
                    "location": {
                        "x": 2917.558349609375,
                        "y": 4260.3369140625,
                        "z": 360.6798095703125
                    },
                    "rotation": {
                        "roll": -0.00027465869789011776,
                        "pitch": 0.41058313846588135,
                        "yaw": 9.185098648071289
                    }
                },
                "velocity": {
                    "x": 7.909814834594727,
                    "y": 1.2789407968521118,
                    "z": 0.05669346824288368
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045660018920898,
                "transform": {
                    "location": {
                        "x": 2920.40771484375,
                        "y": 4257.50537109375,
                        "z": 360.66156005859375
                    },
                    "rotation": {
                        "roll": 3.5409182601142675e-05,
                        "pitch": 0.41467443108558655,
                        "yaw": 9.18342399597168
                    }
                },
                "velocity": {
                    "x": 7.942104816436768,
                    "y": 1.2854371070861816,
                    "z": 0.05717197433114052
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00185775756836,
                "transform": {
                    "location": {
                        "x": 2958.4384765625,
                        "y": 4266.95166015625,
                        "z": 360.9479064941406
                    },
                    "rotation": {
                        "roll": 0.0001036735629895702,
                        "pitch": 0.46702098846435547,
                        "yaw": 9.195303916931152
                    }
                },
                "velocity": {
                    "x": 7.898987770080566,
                    "y": 1.2773579359054565,
                    "z": 0.06384803354740143
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001716613769531,
                "transform": {
                    "location": {
                        "x": 2962.019287109375,
                        "y": 4264.2373046875,
                        "z": 360.97320556640625
                    },
                    "rotation": {
                        "roll": 9.45519332162803e-06,
                        "pitch": 0.4700057804584503,
                        "yaw": 9.1653470993042
                    }
                },
                "velocity": {
                    "x": 7.898953914642334,
                    "y": 1.276585578918457,
                    "z": 0.0657811164855957
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.750703811645508,
                "transform": {
                    "location": {
                        "x": 2930.096923828125,
                        "y": 4255.58251953125,
                        "z": 360.7223815917969
                    },
                    "rotation": {
                        "roll": -0.0018920934526249766,
                        "pitch": -0.42105382680892944,
                        "yaw": -170.72157287597656
                    }
                },
                "velocity": {
                    "x": -8.637405395507812,
                    "y": -1.402092456817627,
                    "z": -0.06457685679197311
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035401344299316,
                "transform": {
                    "location": {
                        "x": 3000.334228515625,
                        "y": 4273.72900390625,
                        "z": 361.3324890136719
                    },
                    "rotation": {
                        "roll": -9.155788575299084e-05,
                        "pitch": 0.5358624458312988,
                        "yaw": 9.2113676071167
                    }
                },
                "velocity": {
                    "x": 7.9317498207092285,
                    "y": 1.2843329906463623,
                    "z": 0.07429052144289017
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016491889953613,
                "transform": {
                    "location": {
                        "x": 3006.10205078125,
                        "y": 4271.36865234375,
                        "z": 361.37408447265625
                    },
                    "rotation": {
                        "roll": 0.0009350861655548215,
                        "pitch": 0.5341139435768127,
                        "yaw": 9.20573902130127
                    }
                },
                "velocity": {
                    "x": 7.912886142730713,
                    "y": 1.2824233770370483,
                    "z": 0.07596797496080399
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7935982942581177,
                "transform": {
                    "location": {
                        "x": 2963.817626953125,
                        "y": 4257.74365234375,
                        "z": 360.981201171875
                    },
                    "rotation": {
                        "roll": 0.0021552296821027994,
                        "pitch": -0.47790831327438354,
                        "yaw": -170.99758911132812
                    }
                },
                "velocity": {
                    "x": -1.7705128192901611,
                    "y": -0.28642332553863525,
                    "z": -0.015521535649895668
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.58475399017334,
                "transform": {
                    "location": {
                        "x": 2911.869384765625,
                        "y": 4252.62939453125,
                        "z": 360.58978271484375
                    },
                    "rotation": {
                        "roll": 0.0002238534070784226,
                        "pitch": -0.3687140941619873,
                        "yaw": -170.7744903564453
                    }
                },
                "velocity": {
                    "x": -7.486780643463135,
                    "y": -1.2140225172042847,
                    "z": -0.0525052547454834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5913549065589905,
                "transform": {
                    "location": {
                        "x": 2952.513427734375,
                        "y": 4255.9052734375,
                        "z": 360.8977355957031
                    },
                    "rotation": {
                        "roll": 0.003146213013678789,
                        "pitch": -0.35543620586395264,
                        "yaw": -171.5731201171875
                    }
                },
                "velocity": {
                    "x": -0.5842265486717224,
                    "y": -0.0914967730641365,
                    "z": -0.002883701352402568
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.35279905796051025,
                "transform": {
                    "location": {
                        "x": 2896.79296875,
                        "y": 4246.970703125,
                        "z": 360.4916076660156
                    },
                    "rotation": {
                        "roll": -0.004730224143713713,
                        "pitch": -0.35375598073005676,
                        "yaw": -170.1202850341797
                    }
                },
                "velocity": {
                    "x": -0.34764766693115234,
                    "y": -0.060017380863428116,
                    "z": -0.0024870489723980427
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00020015393965877593,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.1243745575484354e-05,
                    "y": -1.5047080523800105e-05,
                    "z": 0.00019927058019675314
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9708105325698853,
        "expert_target_speed": 10.0,
        "target_point": [
            49.78402924470739,
            10.082005675614102
        ],
        "target_point_next": [
            91.02828274803545,
            18.01365860153869
        ]
    },
    "440": {
        "acceleration": [
            -4.080524444580078,
            2.1814489364624023,
            0.07763396948575974
        ],
        "angular_velocity": [
            0.24164506793022156,
            -0.04285070672631264,
            -24.94511604309082
        ],
        "forward_vector": [
            -0.9898239970207214,
            0.14228351414203644,
            0.0019675481598824263
        ],
        "right_vector": [
            -0.14229711890220642,
            -0.9897317290306091,
            -0.013517319224774837
        ],
        "location": [
            2939.2099609375,
            4254.7861328125,
            360.78826904296875
        ],
        "rotation": [
            0.7745104432106018,
            0.11273226886987686,
            171.81997680664062
        ],
        "velocity": [
            -4.920258522033691,
            1.3238810300827026,
            -0.029110679402947426
        ],
        "speed": 5.095253173833269,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.342555522918701,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.264183521270752,
                "transform": {
                    "location": {
                        "x": 2982.82421875,
                        "y": 4264.19091796875,
                        "z": 361.1531677246094
                    },
                    "rotation": {
                        "roll": -0.005035394337028265,
                        "pitch": -0.5036581158638,
                        "yaw": -170.3898162841797
                    }
                },
                "velocity": {
                    "x": -4.201747417449951,
                    "y": -0.7260189056396484,
                    "z": -0.038430746644735336
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.175283908843994,
                "transform": {
                    "location": {
                        "x": 2877.81494140625,
                        "y": 4253.85546875,
                        "z": 360.3714294433594
                    },
                    "rotation": {
                        "roll": -0.001556391129270196,
                        "pitch": 0.42058253288269043,
                        "yaw": 9.680728912353516
                    }
                },
                "velocity": {
                    "x": 6.089568138122559,
                    "y": 1.0244587659835815,
                    "z": 0.04210679978132248
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.327577590942383,
                "transform": {
                    "location": {
                        "x": 2880.706787109375,
                        "y": 4251.04541015625,
                        "z": 360.3790588378906
                    },
                    "rotation": {
                        "roll": 0.0038431095890700817,
                        "pitch": 0.41649124026298523,
                        "yaw": 9.6111478805542
                    }
                },
                "velocity": {
                    "x": 8.211533546447754,
                    "y": 1.3842227458953857,
                    "z": 0.056529462337493896
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.429917335510254,
                "transform": {
                    "location": {
                        "x": 2950.193115234375,
                        "y": 4258.8291015625,
                        "z": 360.86907958984375
                    },
                    "rotation": {
                        "roll": 0.0010181604884564877,
                        "pitch": -0.3773815929889679,
                        "yaw": -170.8097381591797
                    }
                },
                "velocity": {
                    "x": -10.295732498168945,
                    "y": -1.6657601594924927,
                    "z": -0.07941282540559769
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.035155296325684,
                "transform": {
                    "location": {
                        "x": 2919.537841796875,
                        "y": 4260.65673828125,
                        "z": 360.6941223144531
                    },
                    "rotation": {
                        "roll": 0.00010608411685097963,
                        "pitch": 0.4125160872936249,
                        "yaw": 9.190194129943848
                    }
                },
                "velocity": {
                    "x": 7.9315714836120605,
                    "y": 1.2847769260406494,
                    "z": 0.056944675743579865
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04560661315918,
                "transform": {
                    "location": {
                        "x": 2922.393310546875,
                        "y": 4257.82666015625,
                        "z": 360.6760559082031
                    },
                    "rotation": {
                        "roll": 0.0005189712392166257,
                        "pitch": 0.4155418574810028,
                        "yaw": 9.209657669067383
                    }
                },
                "velocity": {
                    "x": 7.9421234130859375,
                    "y": 1.2850031852722168,
                    "z": 0.05681583285331726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002052307128906,
                "transform": {
                    "location": {
                        "x": 2960.4130859375,
                        "y": 4267.271484375,
                        "z": 360.96417236328125
                    },
                    "rotation": {
                        "roll": -0.00021362070401664823,
                        "pitch": 0.4712420403957367,
                        "yaw": 9.178227424621582
                    }
                },
                "velocity": {
                    "x": 7.899088382720947,
                    "y": 1.2779377698898315,
                    "z": 0.06427162140607834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0017671585083,
                "transform": {
                    "location": {
                        "x": 2963.993896484375,
                        "y": 4264.556640625,
                        "z": 360.9897155761719
                    },
                    "rotation": {
                        "roll": -0.0008850106387399137,
                        "pitch": 0.4788713753223419,
                        "yaw": 9.197586059570312
                    }
                },
                "velocity": {
                    "x": 7.898815155029297,
                    "y": 1.2777047157287598,
                    "z": 0.06682948768138885
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.158381462097168,
                "transform": {
                    "location": {
                        "x": 2928.033935546875,
                        "y": 4255.24755859375,
                        "z": 360.70733642578125
                    },
                    "rotation": {
                        "roll": -0.001098634791560471,
                        "pitch": -0.4344478249549866,
                        "yaw": -170.72520446777344
                    }
                },
                "velocity": {
                    "x": -8.052592277526855,
                    "y": -1.3081353902816772,
                    "z": -0.06092865392565727
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033858299255371,
                "transform": {
                    "location": {
                        "x": 3002.317138671875,
                        "y": 4274.04931640625,
                        "z": 361.35107421875
                    },
                    "rotation": {
                        "roll": -0.0003662183880805969,
                        "pitch": 0.5393527150154114,
                        "yaw": 9.185823440551758
                    }
                },
                "velocity": {
                    "x": 7.930184364318848,
                    "y": 1.284286618232727,
                    "z": 0.07527793943881989
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3008.09521484375,
                        "y": 4271.67236328125,
                        "z": 361.3943176269531
                    },
                    "rotation": {
                        "roll": -3.33520011608357e-09,
                        "pitch": 0.5378090739250183,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1761443614959717,
                "transform": {
                    "location": {
                        "x": 2963.31640625,
                        "y": 4257.6630859375,
                        "z": 360.9768371582031
                    },
                    "rotation": {
                        "roll": 0.0017779921181499958,
                        "pitch": -0.4652041494846344,
                        "yaw": -170.9493865966797
                    }
                },
                "velocity": {
                    "x": -2.148094892501831,
                    "y": -0.3478139042854309,
                    "z": -0.017828425392508507
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.05855655670166,
                "transform": {
                    "location": {
                        "x": 2909.81298828125,
                        "y": 4252.29541015625,
                        "z": 360.5750427246094
                    },
                    "rotation": {
                        "roll": 0.0018539385637268424,
                        "pitch": -0.3558664917945862,
                        "yaw": -170.78514099121094
                    }
                },
                "velocity": {
                    "x": -8.941747665405273,
                    "y": -1.4486700296401978,
                    "z": -0.0628669261932373
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2840484380722046,
                "transform": {
                    "location": {
                        "x": 2952.29150390625,
                        "y": 4255.87060546875,
                        "z": 360.8957824707031
                    },
                    "rotation": {
                        "roll": -3.0519484425894916e-05,
                        "pitch": -0.29772794246673584,
                        "yaw": -171.49110412597656
                    }
                },
                "velocity": {
                    "x": -1.2681456804275513,
                    "y": -0.20126760005950928,
                    "z": -0.008849944919347763
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.095914363861084,
                "transform": {
                    "location": {
                        "x": 2896.60595703125,
                        "y": 4246.9384765625,
                        "z": 360.4891662597656
                    },
                    "rotation": {
                        "roll": -0.0002746567770373076,
                        "pitch": -0.20874422788619995,
                        "yaw": -170.2141571044922
                    }
                },
                "velocity": {
                    "x": -1.0803585052490234,
                    "y": -0.18386542797088623,
                    "z": -0.006888742092996836
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000996230635792017,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -2.1079182261019014e-05,
                    "y": -3.575719802029198e-06,
                    "z": 0.000996001181192696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.8151748776435852,
        "expert_target_speed": 10.0,
        "target_point": [
            47.20068834090996,
            15.722515075210948
        ],
        "target_point_next": [
            87.28498203233083,
            28.262409988807057
        ]
    },
    "445": {
        "acceleration": [
            1.252603530883789,
            -0.19392967224121094,
            0.0024277716875076294
        ],
        "angular_velocity": [
            -1.3958348035812378,
            -1.2247645854949951,
            -10.17951774597168
        ],
        "forward_vector": [
            -0.9744319915771484,
            0.22466029226779938,
            -0.0031574908643960953
        ],
        "right_vector": [
            -0.22462224960327148,
            -0.974399983882904,
            -0.009460434317588806
        ],
        "location": [
            2937.959716796875,
            4255.1181640625,
            360.7809143066406
        ],
        "rotation": [
            0.5420538187026978,
            -0.18091121315956116,
            167.01702880859375
        ],
        "velocity": [
            -4.866925239562988,
            1.4141837358474731,
            -0.03295987471938133
        ],
        "speed": 5.068222264880534,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.388710975646973,
        "front_vehicle_info": {
            "id": 4616,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.05472993850708,
                "transform": {
                    "location": {
                        "x": 2981.67431640625,
                        "y": 4263.9931640625,
                        "z": 361.1426086425781
                    },
                    "rotation": {
                        "roll": -0.005218506325036287,
                        "pitch": -0.5043684840202332,
                        "yaw": -170.28318786621094
                    }
                },
                "velocity": {
                    "x": -4.980445861816406,
                    "y": -0.8624257445335388,
                    "z": -0.040962934494018555
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.1054277420043945,
                "transform": {
                    "location": {
                        "x": 2879.302490234375,
                        "y": 4254.1064453125,
                        "z": 360.38177490234375
                    },
                    "rotation": {
                        "roll": 0.001707587856799364,
                        "pitch": 0.411109060049057,
                        "yaw": 9.595039367675781
                    }
                },
                "velocity": {
                    "x": 6.020987033843994,
                    "y": 1.011050820350647,
                    "z": 0.04164808988571167
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.186052322387695,
                "transform": {
                    "location": {
                        "x": 2882.771240234375,
                        "y": 4251.392578125,
                        "z": 360.3934326171875
                    },
                    "rotation": {
                        "roll": 0.0039284443482756615,
                        "pitch": 0.39141079783439636,
                        "yaw": 9.495356559753418
                    }
                },
                "velocity": {
                    "x": 8.075284004211426,
                    "y": 1.3408995866775513,
                    "z": 0.05686086416244507
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.887303352355957,
                "transform": {
                    "location": {
                        "x": 2947.790283203125,
                        "y": 4258.4404296875,
                        "z": 360.8514099121094
                    },
                    "rotation": {
                        "roll": 0.000825483410153538,
                        "pitch": -0.4971011281013489,
                        "yaw": -170.813232421875
                    }
                },
                "velocity": {
                    "x": -8.773430824279785,
                    "y": -1.4165624380111694,
                    "z": -0.06646782904863358
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011301040649414,
                "transform": {
                    "location": {
                        "x": 2921.517822265625,
                        "y": 4260.9775390625,
                        "z": 360.70849609375
                    },
                    "rotation": {
                        "roll": -0.0007629399187862873,
                        "pitch": 0.4137455224990845,
                        "yaw": 9.192635536193848
                    }
                },
                "velocity": {
                    "x": 7.908218860626221,
                    "y": 1.279763102531433,
                    "z": 0.05680183321237564
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045987129211426,
                "transform": {
                    "location": {
                        "x": 2924.37890625,
                        "y": 4258.14794921875,
                        "z": 360.69049072265625
                    },
                    "rotation": {
                        "roll": 0.0004204712458886206,
                        "pitch": 0.4165663719177246,
                        "yaw": 9.173827171325684
                    }
                },
                "velocity": {
                    "x": 7.942685604095459,
                    "y": 1.2839082479476929,
                    "z": 0.056966666132211685
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001439094543457,
                "transform": {
                    "location": {
                        "x": 2962.3876953125,
                        "y": 4267.59130859375,
                        "z": 360.98065185546875
                    },
                    "rotation": {
                        "roll": -0.0005798353813588619,
                        "pitch": 0.4725671112537384,
                        "yaw": 9.20081615447998
                    }
                },
                "velocity": {
                    "x": 7.898470878601074,
                    "y": 1.277806043624878,
                    "z": 0.06630092114210129
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001687049865723,
                "transform": {
                    "location": {
                        "x": 2965.96875,
                        "y": 4264.87744140625,
                        "z": 361.0065002441406
                    },
                    "rotation": {
                        "roll": -6.103698979131877e-05,
                        "pitch": 0.4842603802680969,
                        "yaw": 9.18386173248291
                    }
                },
                "velocity": {
                    "x": 7.898629665374756,
                    "y": 1.2783173322677612,
                    "z": 0.0675143450498581
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.959397315979004,
                "transform": {
                    "location": {
                        "x": 2926.1884765625,
                        "y": 4254.9482421875,
                        "z": 360.69390869140625
                    },
                    "rotation": {
                        "roll": -0.0013122576056048274,
                        "pitch": -0.45235657691955566,
                        "yaw": -170.71348571777344
                    }
                },
                "velocity": {
                    "x": -6.869100093841553,
                    "y": -1.116292119026184,
                    "z": -0.05064414069056511
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035426139831543,
                "transform": {
                    "location": {
                        "x": 3004.299560546875,
                        "y": 4274.37060546875,
                        "z": 361.3698425292969
                    },
                    "rotation": {
                        "roll": -0.0005493175121955574,
                        "pitch": 0.5389360189437866,
                        "yaw": 9.216570854187012
                    }
                },
                "velocity": {
                    "x": 7.931657314300537,
                    "y": 1.2849808931350708,
                    "z": 0.07554735243320465
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3010.161376953125,
                        "y": 4271.92919921875,
                        "z": 361.41943359375
                    },
                    "rotation": {
                        "roll": -3.33520011608357e-09,
                        "pitch": 0.5378090739250183,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9253805875778198,
                "transform": {
                    "location": {
                        "x": 2962.84716796875,
                        "y": 4257.58740234375,
                        "z": 360.97296142578125
                    },
                    "rotation": {
                        "roll": 0.0010156880598515272,
                        "pitch": -0.4709756672382355,
                        "yaw": -170.91372680664062
                    }
                },
                "velocity": {
                    "x": -1.900563359260559,
                    "y": -0.3077540993690491,
                    "z": -0.015396012924611568
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.887089729309082,
                "transform": {
                    "location": {
                        "x": 2907.46533203125,
                        "y": 4251.9150390625,
                        "z": 360.5584716796875
                    },
                    "rotation": {
                        "roll": 0.0014330715639516711,
                        "pitch": -0.36648744344711304,
                        "yaw": -170.7940673828125
                    }
                },
                "velocity": {
                    "x": -9.759647369384766,
                    "y": -1.5808695554733276,
                    "z": -0.06841283291578293
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.539106607437134,
                "transform": {
                    "location": {
                        "x": 2951.82275390625,
                        "y": 4255.796875,
                        "z": 360.8912353515625
                    },
                    "rotation": {
                        "roll": -0.0026855459436774254,
                        "pitch": -0.18289196491241455,
                        "yaw": -171.4114227294922
                    }
                },
                "velocity": {
                    "x": -2.5073416233062744,
                    "y": -0.3998880982398987,
                    "z": -0.019722064957022667
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9374467134475708,
                "transform": {
                    "location": {
                        "x": 2896.25244140625,
                        "y": 4246.87841796875,
                        "z": 360.48675537109375
                    },
                    "rotation": {
                        "roll": -0.003234861185774207,
                        "pitch": -0.20062313973903656,
                        "yaw": -170.2034454345703
                    }
                },
                "velocity": {
                    "x": -1.9099581241607666,
                    "y": -0.3249380886554718,
                    "z": -0.013227748684585094
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003533841809257865,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.2790187611244619e-05,
                    "y": -4.0932090996648185e-06,
                    "z": 0.0003531289112288505
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5970399379730225,
        "expert_target_speed": 10.0,
        "target_point": [
            44.425639398569785,
            19.66202999945226
        ],
        "target_point_next": [
            83.3192286608118,
            35.51410492622854
        ]
    },
    "450": {
        "acceleration": [
            0.5254936218261719,
            -1.3583636283874512,
            -0.07344670593738556
        ],
        "angular_velocity": [
            -1.269447922706604,
            -0.13118518888950348,
            4.124713897705078
        ],
        "forward_vector": [
            -0.9712619781494141,
            0.23793210089206696,
            -0.006207306403666735
        ],
        "right_vector": [
            -0.23792852461338043,
            -0.9712817668914795,
            -0.0013161629904061556
        ],
        "location": [
            2936.742431640625,
            4255.42724609375,
            360.7728576660156
        ],
        "rotation": [
            0.07541205734014511,
            -0.3556547462940216,
            166.23521423339844
        ],
        "velocity": [
            -4.853053569793701,
            1.1005940437316895,
            -0.036378562450408936
        ],
        "speed": 4.976287391257166,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 12.310707092285156,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2924.45556640625,
                4254.6669921875,
                360.68084716796875
            ],
            "velocity": [
                -7.163025856018066,
                -1.162732720375061,
                -0.050739310681819916
            ],
            "speed_kmh": 26.125054221336793,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.572623252868652,
                "transform": {
                    "location": {
                        "x": 2980.370849609375,
                        "y": 4263.76806640625,
                        "z": 361.1308898925781
                    },
                    "rotation": {
                        "roll": -0.005035399924963713,
                        "pitch": -0.506192147731781,
                        "yaw": -170.23150634765625
                    }
                },
                "velocity": {
                    "x": -5.4930572509765625,
                    "y": -0.9370022416114807,
                    "z": -0.04976916313171387
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.854735374450684,
                "transform": {
                    "location": {
                        "x": 2880.891845703125,
                        "y": 4254.37353515625,
                        "z": 360.39349365234375
                    },
                    "rotation": {
                        "roll": 0.002760895062237978,
                        "pitch": 0.32009679079055786,
                        "yaw": 9.555505752563477
                    }
                },
                "velocity": {
                    "x": 6.7597270011901855,
                    "y": 1.1363893747329712,
                    "z": 0.04594239965081215
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.865458965301514,
                "transform": {
                    "location": {
                        "x": 2884.732666015625,
                        "y": 4251.71728515625,
                        "z": 360.4071350097656
                    },
                    "rotation": {
                        "roll": 0.0017319084145128727,
                        "pitch": 0.3832077383995056,
                        "yaw": 9.378263473510742
                    }
                },
                "velocity": {
                    "x": 7.760797023773193,
                    "y": 1.277766227722168,
                    "z": 0.05283280089497566
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.850989818572998,
                "transform": {
                    "location": {
                        "x": 2945.859619140625,
                        "y": 4258.1279296875,
                        "z": 360.8371276855469
                    },
                    "rotation": {
                        "roll": 0.000810614787042141,
                        "pitch": -0.5457730889320374,
                        "yaw": -170.81629943847656
                    }
                },
                "velocity": {
                    "x": -6.762994766235352,
                    "y": -1.0933103561401367,
                    "z": -0.051351163536310196
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041886329650879,
                "transform": {
                    "location": {
                        "x": 2923.499267578125,
                        "y": 4261.29833984375,
                        "z": 360.72296142578125
                    },
                    "rotation": {
                        "roll": 0.0003651078441180289,
                        "pitch": 0.4144217073917389,
                        "yaw": 9.192532539367676
                    }
                },
                "velocity": {
                    "x": 7.938398361206055,
                    "y": 1.284712791442871,
                    "z": 0.05721678584814072
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044502258300781,
                "transform": {
                    "location": {
                        "x": 2926.364501953125,
                        "y": 4258.46826171875,
                        "z": 360.70501708984375
                    },
                    "rotation": {
                        "roll": -0.0011901856632903218,
                        "pitch": 0.41938725113868713,
                        "yaw": 9.205081939697266
                    }
                },
                "velocity": {
                    "x": 7.940936088562012,
                    "y": 1.285431146621704,
                    "z": 0.05674077942967415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001723289489746,
                "transform": {
                    "location": {
                        "x": 2964.362548828125,
                        "y": 4267.9111328125,
                        "z": 360.9972229003906
                    },
                    "rotation": {
                        "roll": -0.0010375952115282416,
                        "pitch": 0.4833861291408539,
                        "yaw": 9.176523208618164
                    }
                },
                "velocity": {
                    "x": 7.898818016052246,
                    "y": 1.2773743867874146,
                    "z": 0.06756133586168289
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001770973205566,
                "transform": {
                    "location": {
                        "x": 2967.943359375,
                        "y": 4265.197265625,
                        "z": 361.02349853515625
                    },
                    "rotation": {
                        "roll": 0.00044173706555739045,
                        "pitch": 0.4865826368331909,
                        "yaw": 9.205479621887207
                    }
                },
                "velocity": {
                    "x": 7.898547649383545,
                    "y": 1.2793067693710327,
                    "z": 0.06826839596033096
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.256959438323975,
                "transform": {
                    "location": {
                        "x": 2924.45556640625,
                        "y": 4254.6669921875,
                        "z": 360.68084716796875
                    },
                    "rotation": {
                        "roll": 0.0009155125007964671,
                        "pitch": -0.41256389021873474,
                        "yaw": -170.73655700683594
                    }
                },
                "velocity": {
                    "x": -7.163025856018066,
                    "y": -1.162732720375061,
                    "z": -0.050739310681819916
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3006.33154296875,
                        "y": 4274.669921875,
                        "z": 361.3887939453125
                    },
                    "rotation": {
                        "roll": -3.33520011608357e-09,
                        "pitch": 0.5378090739250183,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3012.2177734375,
                        "y": 4272.26123046875,
                        "z": 361.4391784667969
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8631123304367065,
                "transform": {
                    "location": {
                        "x": 2962.341552734375,
                        "y": 4257.505859375,
                        "z": 360.9688720703125
                    },
                    "rotation": {
                        "roll": 0.0007704867166467011,
                        "pitch": -0.47149476408958435,
                        "yaw": -170.88314819335938
                    }
                },
                "velocity": {
                    "x": -1.8390229940414429,
                    "y": -0.29817575216293335,
                    "z": -0.016521023586392403
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.545392990112305,
                "transform": {
                    "location": {
                        "x": 2904.940673828125,
                        "y": 4251.50634765625,
                        "z": 360.5408630371094
                    },
                    "rotation": {
                        "roll": 0.0005018694791942835,
                        "pitch": -0.3738708794116974,
                        "yaw": -170.80862426757812
                    }
                },
                "velocity": {
                    "x": -10.409638404846191,
                    "y": -1.685044765472412,
                    "z": -0.0732027143239975
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.568005084991455,
                "transform": {
                    "location": {
                        "x": 2950.936279296875,
                        "y": 4255.65625,
                        "z": 360.8826904296875
                    },
                    "rotation": {
                        "roll": -0.008697508834302425,
                        "pitch": 0.008093773387372494,
                        "yaw": -171.2128143310547
                    }
                },
                "velocity": {
                    "x": -4.510210037231445,
                    "y": -0.7234914302825928,
                    "z": -0.035195935517549515
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5067775249481201,
                "transform": {
                    "location": {
                        "x": 2895.6806640625,
                        "y": 4246.7802734375,
                        "z": 360.4834289550781
                    },
                    "rotation": {
                        "roll": -0.000518802204169333,
                        "pitch": -0.2835621237754822,
                        "yaw": -170.3384246826172
                    }
                },
                "velocity": {
                    "x": -1.4852666854858398,
                    "y": -0.2534577250480652,
                    "z": -0.01098242774605751
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.771871317643672e-05,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.3542845408665016e-05,
                    "y": -1.8905382148659555e-06,
                    "z": 4.5717530156252906e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3561433255672455,
        "expert_target_speed": 10.0,
        "target_point": [
            42.89735270081488,
            20.276945989769665
        ],
        "target_point_next": [
            81.57102362792543,
            36.65823843590105
        ]
    },
    "455": {
        "acceleration": [
            1.8837547302246094,
            -1.4258623123168945,
            0.011668875813484192
        ],
        "angular_velocity": [
            -0.5063018202781677,
            -0.45584529638290405,
            7.16319465637207
        ],
        "forward_vector": [
            -0.9768513441085815,
            0.2137284278869629,
            -0.009036537259817123
        ],
        "right_vector": [
            -0.21374762058258057,
            -0.9768881797790527,
            0.001202101237140596
        ],
        "location": [
            2935.58544921875,
            4255.666015625,
            360.7652282714844
        ],
        "rotation": [
            -0.0688781589269638,
            -0.5177624821662903,
            167.65855407714844
        ],
        "velocity": [
            -4.404280185699463,
            0.7844685316085815,
            -0.0313783623278141
        ],
        "speed": 4.473597526737181,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 13.08724594116211,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2922.56396484375,
                4254.359375,
                360.66693115234375
            ],
            "velocity": [
                -7.744046688079834,
                -1.255552887916565,
                -0.05671221762895584
            ],
            "speed_kmh": 28.24334530726468,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.284604549407959,
                "transform": {
                    "location": {
                        "x": 2978.901123046875,
                        "y": 4263.5185546875,
                        "z": 361.1174011230469
                    },
                    "rotation": {
                        "roll": -0.0017089791363105178,
                        "pitch": -0.49789345264434814,
                        "yaw": -170.3615264892578
                    }
                },
                "velocity": {
                    "x": -6.197433948516846,
                    "y": -1.0415962934494019,
                    "z": -0.05605999380350113
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.27579402923584,
                "transform": {
                    "location": {
                        "x": 2882.700927734375,
                        "y": 4254.67431640625,
                        "z": 360.4064636230469
                    },
                    "rotation": {
                        "roll": -0.0024414053186774254,
                        "pitch": 0.2582835853099823,
                        "yaw": 9.468596458435059
                    }
                },
                "velocity": {
                    "x": 8.165717124938965,
                    "y": 1.344102144241333,
                    "z": 0.0567191019654274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.201241493225098,
                "transform": {
                    "location": {
                        "x": 2886.71923828125,
                        "y": 4252.04443359375,
                        "z": 360.4206237792969
                    },
                    "rotation": {
                        "roll": 0.0011345118982717395,
                        "pitch": 0.39437511563301086,
                        "yaw": 9.325830459594727
                    }
                },
                "velocity": {
                    "x": 8.09279727935791,
                    "y": 1.3281457424163818,
                    "z": 0.05498762056231499
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4223573207855225,
                "transform": {
                    "location": {
                        "x": 2944.576904296875,
                        "y": 4257.91845703125,
                        "z": 360.8285217285156
                    },
                    "rotation": {
                        "roll": 0.002668502042070031,
                        "pitch": -0.6945482492446899,
                        "yaw": -171.17263793945312
                    }
                },
                "velocity": {
                    "x": -2.3903720378875732,
                    "y": -0.3919605314731598,
                    "z": -0.01741727814078331
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.004111289978027,
                "transform": {
                    "location": {
                        "x": 2925.478759765625,
                        "y": 4261.61865234375,
                        "z": 360.7374267578125
                    },
                    "rotation": {
                        "roll": 0.000629061134532094,
                        "pitch": 0.4177889823913574,
                        "yaw": 9.189579010009766
                    }
                },
                "velocity": {
                    "x": 7.9012017250061035,
                    "y": 1.2780872583389282,
                    "z": 0.05743741989135742
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046213150024414,
                "transform": {
                    "location": {
                        "x": 2928.349853515625,
                        "y": 4258.7900390625,
                        "z": 360.7196044921875
                    },
                    "rotation": {
                        "roll": -0.0013427718076854944,
                        "pitch": 0.4199199974536896,
                        "yaw": 9.182796478271484
                    }
                },
                "velocity": {
                    "x": 7.942688465118408,
                    "y": 1.285276174545288,
                    "z": 0.05748103931546211
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001229286193848,
                "transform": {
                    "location": {
                        "x": 2966.337158203125,
                        "y": 4268.23046875,
                        "z": 361.0141296386719
                    },
                    "rotation": {
                        "roll": -0.0006408633198589087,
                        "pitch": 0.48432186245918274,
                        "yaw": 9.195600509643555
                    }
                },
                "velocity": {
                    "x": 7.898348808288574,
                    "y": 1.2771894931793213,
                    "z": 0.06739292293787003
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000656127929688,
                "transform": {
                    "location": {
                        "x": 2969.91796875,
                        "y": 4265.51806640625,
                        "z": 361.04052734375
                    },
                    "rotation": {
                        "roll": 0.00017843871319200844,
                        "pitch": 0.49622687697410583,
                        "yaw": 9.18309497833252
                    }
                },
                "velocity": {
                    "x": 7.897623062133789,
                    "y": 1.278031349182129,
                    "z": 0.0684940293431282
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.845373630523682,
                "transform": {
                    "location": {
                        "x": 2922.56396484375,
                        "y": 4254.359375,
                        "z": 360.66693115234375
                    },
                    "rotation": {
                        "roll": -0.0006103523191995919,
                        "pitch": -0.39144495129585266,
                        "yaw": -170.78009033203125
                    }
                },
                "velocity": {
                    "x": -7.744046688079834,
                    "y": -1.255552887916565,
                    "z": -0.05671221762895584
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3008.3955078125,
                        "y": 4274.955078125,
                        "z": 361.4079895019531
                    },
                    "rotation": {
                        "roll": -3.33520011608357e-09,
                        "pitch": 0.5378090739250183,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4706,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3014.27392578125,
                        "y": 4272.5927734375,
                        "z": 361.45892333984375
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.115618944168091,
                "transform": {
                    "location": {
                        "x": 2961.865234375,
                        "y": 4257.42919921875,
                        "z": 360.96484375
                    },
                    "rotation": {
                        "roll": 0.0008814769680611789,
                        "pitch": -0.4650265872478485,
                        "yaw": -170.8608856201172
                    }
                },
                "velocity": {
                    "x": -2.0882558822631836,
                    "y": -0.33871302008628845,
                    "z": -0.017440376803278923
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.22939682006836,
                "transform": {
                    "location": {
                        "x": 2902.25,
                        "y": 4251.07080078125,
                        "z": 360.52197265625
                    },
                    "rotation": {
                        "roll": 0.0007259664125740528,
                        "pitch": -0.37255263328552246,
                        "yaw": -170.81455993652344
                    }
                },
                "velocity": {
                    "x": -11.085009574890137,
                    "y": -1.7933121919631958,
                    "z": -0.07719976454973221
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.625967025756836,
                "transform": {
                    "location": {
                        "x": 2949.64404296875,
                        "y": 4255.44970703125,
                        "z": 360.8741455078125
                    },
                    "rotation": {
                        "roll": -0.004791258834302425,
                        "pitch": -0.14227283000946045,
                        "yaw": -171.02650451660156
                    }
                },
                "velocity": {
                    "x": -5.554218769073486,
                    "y": -0.8946346044540405,
                    "z": -0.04229485243558884
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0270116329193115,
                "transform": {
                    "location": {
                        "x": 2895.55029296875,
                        "y": 4246.7578125,
                        "z": 360.48565673828125
                    },
                    "rotation": {
                        "roll": -0.00045776169281452894,
                        "pitch": -0.680607795715332,
                        "yaw": -170.3740234375
                    }
                },
                "velocity": {
                    "x": -1.012535572052002,
                    "y": -0.17170384526252747,
                    "z": -0.006517285946756601
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000681858160533011,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.7084850696846843e-05,
                    "y": -8.39606855151942e-06,
                    "z": 0.0006815923843532801
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00010824274067999795,
        "expert_target_speed": 10.0,
        "target_point": [
            42.206500948565484,
            19.19111495128236
        ],
        "target_point_next": [
            81.27513815010045,
            34.6067288670158
        ]
    },
    "460": {
        "acceleration": [
            0.18889427185058594,
            -1.284155249595642,
            -0.0048021599650382996
        ],
        "angular_velocity": [
            -0.30549225211143494,
            0.29777440428733826,
            11.992597579956055
        ],
        "forward_vector": [
            -0.9852948784828186,
            0.17059506475925446,
            -0.009553644806146622
        ],
        "right_vector": [
            -0.1706378310918808,
            -0.98532634973526,
            0.00384914712049067
        ],
        "location": [
            2934.5234375,
            4255.8203125,
            360.7578430175781
        ],
        "rotation": [
            -0.2205505073070526,
            -0.5473918318748474,
            170.1771240234375
        ],
        "velocity": [
            -4.187484264373779,
            0.42130348086357117,
            -0.02902945503592491
        ],
        "speed": 4.208624607560737,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 14.238911628723145,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2920.400634765625,
                4254.0087890625,
                360.6509704589844
            ],
            "velocity": [
                -9.299568176269531,
                -1.5074355602264404,
                -0.06705117970705032
            ],
            "speed_kmh": 33.91628497018067,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.4572367668151855,
                "transform": {
                    "location": {
                        "x": 2977.191162109375,
                        "y": 4263.23095703125,
                        "z": 361.1018371582031
                    },
                    "rotation": {
                        "roll": -0.00152587762568146,
                        "pitch": -0.4824162423610687,
                        "yaw": -170.45970153808594
                    }
                },
                "velocity": {
                    "x": -7.354732990264893,
                    "y": -1.230440616607666,
                    "z": -0.06553200632333755
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.389575004577637,
                "transform": {
                    "location": {
                        "x": 2884.8173828125,
                        "y": 4255.0234375,
                        "z": 360.42041015625
                    },
                    "rotation": {
                        "roll": 0.00016049726400524378,
                        "pitch": 0.34111329913139343,
                        "yaw": 9.373366355895996
                    }
                },
                "velocity": {
                    "x": 8.278045654296875,
                    "y": 1.3622466325759888,
                    "z": 0.05674710124731064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.013162612915039,
                "transform": {
                    "location": {
                        "x": 2888.723876953125,
                        "y": 4252.37255859375,
                        "z": 360.4344177246094
                    },
                    "rotation": {
                        "roll": 0.001675572362728417,
                        "pitch": 0.38749709725379944,
                        "yaw": 9.275978088378906
                    }
                },
                "velocity": {
                    "x": 7.908627033233643,
                    "y": 1.288882851600647,
                    "z": 0.056240394711494446
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000639893114566803,
                "transform": {
                    "location": {
                        "x": 2944.481201171875,
                        "y": 4257.90185546875,
                        "z": 360.8269958496094
                    },
                    "rotation": {
                        "roll": 0.005938294809311628,
                        "pitch": -0.6243885159492493,
                        "yaw": -171.22752380371094
                    }
                },
                "velocity": {
                    "x": 0.0006013689562678337,
                    "y": 9.868598135653883e-05,
                    "z": -0.0001951400190591812
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045101165771484,
                "transform": {
                    "location": {
                        "x": 2927.459716796875,
                        "y": 4261.93896484375,
                        "z": 360.75201416015625
                    },
                    "rotation": {
                        "roll": 0.0005499383551068604,
                        "pitch": 0.4199746549129486,
                        "yaw": 9.188684463500977
                    }
                },
                "velocity": {
                    "x": 7.94165563583374,
                    "y": 1.2846980094909668,
                    "z": 0.05751578137278557
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045456886291504,
                "transform": {
                    "location": {
                        "x": 2930.33544921875,
                        "y": 4259.11181640625,
                        "z": 360.7342529296875
                    },
                    "rotation": {
                        "roll": -9.155302541330457e-05,
                        "pitch": 0.42218080163002014,
                        "yaw": 9.208614349365234
                    }
                },
                "velocity": {
                    "x": 7.941941261291504,
                    "y": 1.285150408744812,
                    "z": 0.05773226544260979
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001386642456055,
                "transform": {
                    "location": {
                        "x": 2968.311767578125,
                        "y": 4268.55029296875,
                        "z": 361.03118896484375
                    },
                    "rotation": {
                        "roll": -0.0002136246330337599,
                        "pitch": 0.48981332778930664,
                        "yaw": 9.17614459991455
                    }
                },
                "velocity": {
                    "x": 7.898449420928955,
                    "y": 1.277486801147461,
                    "z": 0.06864462047815323
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001065254211426,
                "transform": {
                    "location": {
                        "x": 2971.892333984375,
                        "y": 4265.837890625,
                        "z": 361.05780029296875
                    },
                    "rotation": {
                        "roll": 0.0001368123630527407,
                        "pitch": 0.49711480736732483,
                        "yaw": 9.20013427734375
                    }
                },
                "velocity": {
                    "x": 7.898112773895264,
                    "y": 1.2775436639785767,
                    "z": 0.0689009428024292
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.42119026184082,
                "transform": {
                    "location": {
                        "x": 2920.400634765625,
                        "y": 4254.0087890625,
                        "z": 360.6509704589844
                    },
                    "rotation": {
                        "roll": 0.0007597872754558921,
                        "pitch": -0.36587271094322205,
                        "yaw": -170.76327514648438
                    }
                },
                "velocity": {
                    "x": -9.299568176269531,
                    "y": -1.5074355602264404,
                    "z": -0.06705117970705032
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4707,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3010.454833984375,
                        "y": 4275.26806640625,
                        "z": 361.4273681640625
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8665971755981445,
                "transform": {
                    "location": {
                        "x": 2961.3896484375,
                        "y": 4257.35205078125,
                        "z": 360.96087646484375
                    },
                    "rotation": {
                        "roll": 0.00026609297492541373,
                        "pitch": -0.4741448760032654,
                        "yaw": -170.8428497314453
                    }
                },
                "velocity": {
                    "x": -1.8425135612487793,
                    "y": -0.29851850867271423,
                    "z": -0.014677934348583221
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.87658977508545,
                "transform": {
                    "location": {
                        "x": 2899.395751953125,
                        "y": 4250.609375,
                        "z": 360.5021057128906
                    },
                    "rotation": {
                        "roll": 0.0008155143586918712,
                        "pitch": -0.3715759217739105,
                        "yaw": -170.81761169433594
                    }
                },
                "velocity": {
                    "x": -11.724027633666992,
                    "y": -1.8958015441894531,
                    "z": -0.080649234354496
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.738691806793213,
                "transform": {
                    "location": {
                        "x": 2948.09423828125,
                        "y": 4255.20068359375,
                        "z": 360.8630065917969
                    },
                    "rotation": {
                        "roll": -0.0034179710783064365,
                        "pitch": -0.24056607484817505,
                        "yaw": -170.896484375
                    }
                },
                "velocity": {
                    "x": -6.652171611785889,
                    "y": -1.0751582384109497,
                    "z": -0.051106590777635574
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3190512657165527,
                "transform": {
                    "location": {
                        "x": 2895.117431640625,
                        "y": 4246.68359375,
                        "z": 360.4779357910156
                    },
                    "rotation": {
                        "roll": -0.0015563962515443563,
                        "pitch": -0.09127864241600037,
                        "yaw": -170.4427947998047
                    }
                },
                "velocity": {
                    "x": -2.286447286605835,
                    "y": -0.38721248507499695,
                    "z": -0.01498367264866829
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00016473622235935181,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.1841729246953037e-05,
                    "y": -6.777653197787004e-06,
                    "z": 0.00016417021106462926
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2121686488389969,
        "expert_target_speed": 10.0,
        "target_point": [
            41.93628168935115,
            17.288746489920683
        ],
        "target_point_next": [
            81.64458954560992,
            30.972673279285416
        ]
    },
    "465": {
        "acceleration": [
            -0.9432601928710938,
            -0.9336251020431519,
            -0.015210434794425964
        ],
        "angular_velocity": [
            -0.037282321602106094,
            0.4666454792022705,
            13.202069282531738
        ],
        "forward_vector": [
            -0.9933102130889893,
            0.11521587520837784,
            -0.007748049218207598
        ],
        "right_vector": [
            -0.11525411158800125,
            -0.9933249950408936,
            0.004682742990553379
        ],
        "location": [
            2933.464111328125,
            4255.90283203125,
            360.7497863769531
        ],
        "rotation": [
            -0.26831045746803284,
            -0.44393494725227356,
            173.38372802734375
        ],
        "velocity": [
            -4.333930969238281,
            0.16702982783317566,
            -0.030353344976902008
        ],
        "speed": 4.33714844218049,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 15.657220840454102,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2917.975341796875,
                4253.615234375,
                360.6336364746094
            ],
            "velocity": [
                -10.045377731323242,
                -1.62652587890625,
                -0.07211096584796906
            ],
            "speed_kmh": 36.6352669770102,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.254692077636719,
                "transform": {
                    "location": {
                        "x": 2975.248779296875,
                        "y": 4262.90625,
                        "z": 361.0844421386719
                    },
                    "rotation": {
                        "roll": -0.0012512168614193797,
                        "pitch": -0.48623430728912354,
                        "yaw": -170.51596069335938
                    }
                },
                "velocity": {
                    "x": -8.142772674560547,
                    "y": -1.3527779579162598,
                    "z": -0.07203178852796555
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.877460956573486,
                "transform": {
                    "location": {
                        "x": 2886.812744140625,
                        "y": 4255.3515625,
                        "z": 360.4333801269531
                    },
                    "rotation": {
                        "roll": -0.0019226062577217817,
                        "pitch": 0.4323919415473938,
                        "yaw": 9.324572563171387
                    }
                },
                "velocity": {
                    "x": 7.7744879722595215,
                    "y": 1.2683966159820557,
                    "z": 0.053840961307287216
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053144454956055,
                "transform": {
                    "location": {
                        "x": 2890.69873046875,
                        "y": 4252.69384765625,
                        "z": 360.4480895996094
                    },
                    "rotation": {
                        "roll": 0.0010473274160176516,
                        "pitch": 0.38871288299560547,
                        "yaw": 9.243280410766602
                    }
                },
                "velocity": {
                    "x": 7.948582649230957,
                    "y": 1.2923513650894165,
                    "z": 0.054858073592185974
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5831130146980286,
                "transform": {
                    "location": {
                        "x": 2944.434814453125,
                        "y": 4257.89404296875,
                        "z": 360.8253479003906
                    },
                    "rotation": {
                        "roll": 0.0032404642552137375,
                        "pitch": -0.4426850378513336,
                        "yaw": -171.24331665039062
                    }
                },
                "velocity": {
                    "x": -0.5757846832275391,
                    "y": -0.09205658733844757,
                    "z": -0.0042873951606452465
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.004621505737305,
                "transform": {
                    "location": {
                        "x": 2929.439697265625,
                        "y": 4262.2587890625,
                        "z": 360.7666320800781
                    },
                    "rotation": {
                        "roll": -0.0004272451624274254,
                        "pitch": 0.42040494084358215,
                        "yaw": 9.185317993164062
                    }
                },
                "velocity": {
                    "x": 7.901783466339111,
                    "y": 1.2776561975479126,
                    "z": 0.05815775692462921
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045202255249023,
                "transform": {
                    "location": {
                        "x": 2932.32080078125,
                        "y": 4259.43310546875,
                        "z": 360.7489318847656
                    },
                    "rotation": {
                        "roll": 0.00016816465358715504,
                        "pitch": 0.42412057518959045,
                        "yaw": 9.178375244140625
                    }
                },
                "velocity": {
                    "x": 7.94173002243042,
                    "y": 1.284712314605713,
                    "z": 0.06098340079188347
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001518249511719,
                "transform": {
                    "location": {
                        "x": 2970.286376953125,
                        "y": 4268.86962890625,
                        "z": 361.04827880859375
                    },
                    "rotation": {
                        "roll": -0.00021362153347581625,
                        "pitch": 0.49737435579299927,
                        "yaw": 9.194272994995117
                    }
                },
                "velocity": {
                    "x": 7.8987274169921875,
                    "y": 1.2766170501708984,
                    "z": 0.06821891665458679
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00139045715332,
                "transform": {
                    "location": {
                        "x": 2973.8671875,
                        "y": 4266.1572265625,
                        "z": 361.07525634765625
                    },
                    "rotation": {
                        "roll": -0.0007934595923870802,
                        "pitch": 0.5018344521522522,
                        "yaw": 9.172605514526367
                    }
                },
                "velocity": {
                    "x": 7.898636817932129,
                    "y": 1.2762924432754517,
                    "z": 0.06971204280853271
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.17646312713623,
                "transform": {
                    "location": {
                        "x": 2917.975341796875,
                        "y": 4253.615234375,
                        "z": 360.6336364746094
                    },
                    "rotation": {
                        "roll": 0.0012337162625044584,
                        "pitch": -0.3773815929889679,
                        "yaw": -170.79835510253906
                    }
                },
                "velocity": {
                    "x": -10.045377731323242,
                    "y": -1.62652587890625,
                    "z": -0.07211096584796906
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9118965864181519,
                "transform": {
                    "location": {
                        "x": 2960.8896484375,
                        "y": 4257.27099609375,
                        "z": 360.956787109375
                    },
                    "rotation": {
                        "roll": 0.0004405451472848654,
                        "pitch": -0.46709612011909485,
                        "yaw": -170.8321533203125
                    }
                },
                "velocity": {
                    "x": -1.887250304222107,
                    "y": -0.3055947721004486,
                    "z": -0.015713490545749664
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.544276237487793,
                "transform": {
                    "location": {
                        "x": 2896.378662109375,
                        "y": 4250.12158203125,
                        "z": 360.4811706542969
                    },
                    "rotation": {
                        "roll": 0.000797090760897845,
                        "pitch": -0.3681061863899231,
                        "yaw": -170.82275390625
                    }
                },
                "velocity": {
                    "x": -12.383345603942871,
                    "y": -2.001126527786255,
                    "z": -0.08437841385602951
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.922011375427246,
                "transform": {
                    "location": {
                        "x": 2946.3134765625,
                        "y": 4254.9130859375,
                        "z": 360.84906005859375
                    },
                    "rotation": {
                        "roll": -0.0020446775015443563,
                        "pitch": -0.2042226493358612,
                        "yaw": -170.8710479736328
                    }
                },
                "velocity": {
                    "x": -7.81975793838501,
                    "y": -1.2673182487487793,
                    "z": -0.059644926339387894
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.005943533964455128,
                "transform": {
                    "location": {
                        "x": 2894.806884765625,
                        "y": 4246.63037109375,
                        "z": 360.48101806640625
                    },
                    "rotation": {
                        "roll": 0.0023114595096558332,
                        "pitch": -0.7300379276275635,
                        "yaw": -170.49790954589844
                    }
                },
                "velocity": {
                    "x": -0.0058254823088645935,
                    "y": -0.001178519451059401,
                    "z": -2.1050538634881377e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008676958386786282,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.7507300071883947e-05,
                    "y": -7.617818027938483e-06,
                    "z": 0.0008674857672303915
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2965247929096222,
        "expert_target_speed": 10.0,
        "target_point": [
            41.775919023597275,
            14.8758168313685
        ],
        "target_point_next": [
            82.187489844573,
            26.317167667934093
        ]
    },
    "470": {
        "acceleration": [
            -0.37235260009765625,
            -0.9161738157272339,
            -0.007417574524879456
        ],
        "angular_velocity": [
            -0.0369439423084259,
            0.044973552227020264,
            13.02468490600586
        ],
        "forward_vector": [
            -0.9983205199241638,
            0.05755086988210678,
            -0.006643007509410381
        ],
        "right_vector": [
            -0.05758410319685936,
            -0.9983285069465637,
            0.004924587905406952
        ],
        "location": [
            2932.35546875,
            4255.92626953125,
            360.74163818359375
        ],
        "rotation": [
            -0.2821654677391052,
            -0.3806191086769104,
            176.70068359375
        ],
        "velocity": [
            -4.501635551452637,
            -0.06871269643306732,
            -0.03310651332139969
        ],
        "speed": 4.502159934159757,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 17.197532653808594,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2915.376708984375,
                4253.19482421875,
                360.6149597167969
            ],
            "velocity": [
                -10.712151527404785,
                -1.7332428693771362,
                -0.07695023715496063
            ],
            "speed_kmh": 39.066260931653794,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.089266777038574,
                "transform": {
                    "location": {
                        "x": 2973.10546875,
                        "y": 4262.5517578125,
                        "z": 361.0654296875
                    },
                    "rotation": {
                        "roll": 0.0010179769014939666,
                        "pitch": -0.4774438440799713,
                        "yaw": -170.6259002685547
                    }
                },
                "velocity": {
                    "x": -8.96844482421875,
                    "y": -1.475006103515625,
                    "z": -0.07826565206050873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.989181041717529,
                "transform": {
                    "location": {
                        "x": 2888.75732421875,
                        "y": 4255.66845703125,
                        "z": 360.4471435546875
                    },
                    "rotation": {
                        "roll": -0.000610354938544333,
                        "pitch": 0.3817802369594574,
                        "yaw": 9.275157928466797
                    }
                },
                "velocity": {
                    "x": 7.884987831115723,
                    "y": 1.2849912643432617,
                    "z": 0.05271036922931671
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084322929382324,
                "transform": {
                    "location": {
                        "x": 2892.694580078125,
                        "y": 4253.0185546875,
                        "z": 360.4617614746094
                    },
                    "rotation": {
                        "roll": -0.0005188029026612639,
                        "pitch": 0.3905433714389801,
                        "yaw": 9.225249290466309
                    }
                },
                "velocity": {
                    "x": 7.97957181930542,
                    "y": 1.2960152626037598,
                    "z": 0.05529412254691124
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2738486528396606,
                "transform": {
                    "location": {
                        "x": 2944.18798828125,
                        "y": 4257.8544921875,
                        "z": 360.82354736328125
                    },
                    "rotation": {
                        "roll": 0.0031580033246427774,
                        "pitch": -0.3941018879413605,
                        "yaw": -171.2018585205078
                    }
                },
                "velocity": {
                    "x": -1.2573871612548828,
                    "y": -0.2039191722869873,
                    "z": -0.009215746074914932
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043439865112305,
                "transform": {
                    "location": {
                        "x": 2931.420166015625,
                        "y": 4262.57958984375,
                        "z": 360.7812805175781
                    },
                    "rotation": {
                        "roll": 0.0006335039506666362,
                        "pitch": 0.4235195219516754,
                        "yaw": 9.190113067626953
                    }
                },
                "velocity": {
                    "x": 7.939943790435791,
                    "y": 1.2847356796264648,
                    "z": 0.060612838715314865
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045799255371094,
                "transform": {
                    "location": {
                        "x": 2934.306396484375,
                        "y": 4259.75439453125,
                        "z": 360.76373291015625
                    },
                    "rotation": {
                        "roll": -0.0001220696431118995,
                        "pitch": 0.4251519441604614,
                        "yaw": 9.211009979248047
                    }
                },
                "velocity": {
                    "x": 7.942269802093506,
                    "y": 1.2851488590240479,
                    "z": 0.0601399689912796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000550270080566,
                "transform": {
                    "location": {
                        "x": 2972.260986328125,
                        "y": 4269.1884765625,
                        "z": 361.0656433105469
                    },
                    "rotation": {
                        "roll": -0.0005493173375725746,
                        "pitch": 0.4975382685661316,
                        "yaw": 9.171133995056152
                    }
                },
                "velocity": {
                    "x": 7.897687911987305,
                    "y": 1.276926875114441,
                    "z": 0.06925924122333527
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00129222869873,
                "transform": {
                    "location": {
                        "x": 2975.841796875,
                        "y": 4266.4755859375,
                        "z": 361.0927734375
                    },
                    "rotation": {
                        "roll": -0.0005188014474697411,
                        "pitch": 0.5106453895568848,
                        "yaw": 9.188974380493164
                    }
                },
                "velocity": {
                    "x": 7.898499965667725,
                    "y": 1.2764630317687988,
                    "z": 0.07079042494297028
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.851738929748535,
                "transform": {
                    "location": {
                        "x": 2915.376708984375,
                        "y": 4253.19482421875,
                        "z": 360.6149597167969
                    },
                    "rotation": {
                        "roll": -0.00027465776656754315,
                        "pitch": -0.38326922059059143,
                        "yaw": -170.80984497070312
                    }
                },
                "velocity": {
                    "x": -10.712151527404785,
                    "y": -1.7332428693771362,
                    "z": -0.07695023715496063
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0681252479553223,
                "transform": {
                    "location": {
                        "x": 2960.43115234375,
                        "y": 4257.1962890625,
                        "z": 360.9529113769531
                    },
                    "rotation": {
                        "roll": 0.00033826229628175497,
                        "pitch": -0.466488242149353,
                        "yaw": -170.82432556152344
                    }
                },
                "velocity": {
                    "x": -2.041471481323242,
                    "y": -0.33061373233795166,
                    "z": -0.015209569595754147
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.668668746948242,
                "transform": {
                    "location": {
                        "x": 2893.239013671875,
                        "y": 4249.61376953125,
                        "z": 360.4598083496094
                    },
                    "rotation": {
                        "roll": -0.0012817357201129198,
                        "pitch": -0.3802434504032135,
                        "yaw": -170.82225036621094
                    }
                },
                "velocity": {
                    "x": -12.50594711303711,
                    "y": -2.0220677852630615,
                    "z": -0.087750144302845
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.686851978302002,
                "transform": {
                    "location": {
                        "x": 2944.463623046875,
                        "y": 4254.61376953125,
                        "z": 360.83837890625
                    },
                    "rotation": {
                        "roll": 0.0003546901571098715,
                        "pitch": -0.6174286007881165,
                        "yaw": -170.81285095214844
                    }
                },
                "velocity": {
                    "x": -5.61356258392334,
                    "y": -0.9090527892112732,
                    "z": -0.04271289333701134
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.368531584739685,
                "transform": {
                    "location": {
                        "x": 2894.608642578125,
                        "y": 4246.59765625,
                        "z": 360.4769592285156
                    },
                    "rotation": {
                        "roll": -0.002014164114370942,
                        "pitch": -0.39901962876319885,
                        "yaw": -170.44580078125
                    }
                },
                "velocity": {
                    "x": -1.349293828010559,
                    "y": -0.22847263514995575,
                    "z": -0.009228124283254147
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00036889975308440626,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.3427510566543788e-05,
                    "y": -5.814023097627796e-06,
                    "z": 0.0003686094714794308
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35924965143203735,
        "expert_target_speed": 10.0,
        "target_point": [
            41.458481004974985,
            12.393375900086026
        ],
        "target_point_next": [
            82.46433840593114,
            21.477385146920014
        ]
    },
    "475": {
        "acceleration": [
            0.28992652893066406,
            -0.7199236750602722,
            -0.012805834412574768
        ],
        "angular_velocity": [
            0.15537767112255096,
            -0.18294982612133026,
            11.337859153747559
        ],
        "forward_vector": [
            -0.9999656081199646,
            0.004286319017410278,
            -0.007103145122528076
        ],
        "right_vector": [
            -0.004318329971283674,
            -0.9999805688858032,
            0.004497417248785496
        ],
        "location": [
            2931.22900390625,
            4255.8935546875,
            360.7335205078125
        ],
        "rotation": [
            -0.2576904296875,
            -0.4069836437702179,
            179.75440979003906
        ],
        "velocity": [
            -4.489409446716309,
            -0.26749569177627563,
            -0.03339849412441254
        ],
        "speed": 4.497371579643437,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 18.879226684570312,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2912.6142578125,
                4252.74755859375,
                360.5951843261719
            ],
            "velocity": [
                -11.34243106842041,
                -1.8340873718261719,
                -0.08028010278940201
            ],
            "speed_kmh": 41.36415100613658,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2853.135498046875,
                        "y": 4246.517578125,
                        "z": 360.3562316894531
                    },
                    "rotation": {
                        "roll": -3.3351470474229927e-09,
                        "pitch": 0.4297964572906494,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.889628410339355,
                "transform": {
                    "location": {
                        "x": 2970.76171875,
                        "y": 4262.16650390625,
                        "z": 361.04486083984375
                    },
                    "rotation": {
                        "roll": -0.0005493154167197645,
                        "pitch": -0.4745137095451355,
                        "yaw": -170.68905639648438
                    }
                },
                "velocity": {
                    "x": -9.759068489074707,
                    "y": -1.5994372367858887,
                    "z": -0.08439718186855316
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.12004280090332,
                "transform": {
                    "location": {
                        "x": 2890.755859375,
                        "y": 4255.994140625,
                        "z": 360.4608459472656
                    },
                    "rotation": {
                        "roll": -0.00033569036168046296,
                        "pitch": 0.37712886929512024,
                        "yaw": 9.255980491638184
                    }
                },
                "velocity": {
                    "x": 8.01414966583252,
                    "y": 1.305918574333191,
                    "z": 0.055433206260204315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051788330078125,
                "transform": {
                    "location": {
                        "x": 2894.684326171875,
                        "y": 4253.34130859375,
                        "z": 360.4754333496094
                    },
                    "rotation": {
                        "roll": 0.00048349046846851707,
                        "pitch": 0.38916367292404175,
                        "yaw": 9.213526725769043
                    }
                },
                "velocity": {
                    "x": 7.947876930236816,
                    "y": 1.2881559133529663,
                    "z": 0.056627415120601654
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6309095621109009,
                "transform": {
                    "location": {
                        "x": 2943.83984375,
                        "y": 4257.7998046875,
                        "z": 360.82080078125
                    },
                    "rotation": {
                        "roll": 0.0023140180855989456,
                        "pitch": -0.39438194036483765,
                        "yaw": -171.07730102539062
                    }
                },
                "velocity": {
                    "x": -1.6101751327514648,
                    "y": -0.2588837444782257,
                    "z": -0.013453521765768528
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006747245788574,
                "transform": {
                    "location": {
                        "x": 2933.400634765625,
                        "y": 4262.89990234375,
                        "z": 360.7960205078125
                    },
                    "rotation": {
                        "roll": 0.00021285554976202548,
                        "pitch": 0.4225701093673706,
                        "yaw": 9.187703132629395
                    }
                },
                "velocity": {
                    "x": 7.903841495513916,
                    "y": 1.2781639099121094,
                    "z": 0.05984502658247948
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045524597167969,
                "transform": {
                    "location": {
                        "x": 2936.291748046875,
                        "y": 4260.07568359375,
                        "z": 360.7785949707031
                    },
                    "rotation": {
                        "roll": 0.0010560571681708097,
                        "pitch": 0.42692095041275024,
                        "yaw": 9.180455207824707
                    }
                },
                "velocity": {
                    "x": 7.942026138305664,
                    "y": 1.2849607467651367,
                    "z": 0.05967911705374718
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001215934753418,
                "transform": {
                    "location": {
                        "x": 2974.235595703125,
                        "y": 4269.5068359375,
                        "z": 361.0831604003906
                    },
                    "rotation": {
                        "roll": -0.001037599053233862,
                        "pitch": 0.5072712898254395,
                        "yaw": 9.194497108459473
                    }
                },
                "velocity": {
                    "x": 7.898324489593506,
                    "y": 1.277125597000122,
                    "z": 0.06985694915056229
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000469207763672,
                "transform": {
                    "location": {
                        "x": 2977.816162109375,
                        "y": 4266.7939453125,
                        "z": 361.1106262207031
                    },
                    "rotation": {
                        "roll": 0.00034417782444506884,
                        "pitch": 0.5110415816307068,
                        "yaw": 9.166179656982422
                    }
                },
                "velocity": {
                    "x": 7.8977251052856445,
                    "y": 1.2760518789291382,
                    "z": 0.07165094465017319
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.490041732788086,
                "transform": {
                    "location": {
                        "x": 2912.6142578125,
                        "y": 4252.74755859375,
                        "z": 360.5951843261719
                    },
                    "rotation": {
                        "roll": -0.0003356972010806203,
                        "pitch": -0.381104052066803,
                        "yaw": -170.8265838623047
                    }
                },
                "velocity": {
                    "x": -11.34243106842041,
                    "y": -1.8340873718261719,
                    "z": -0.08028010278940201
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.7729690074920654,
                "transform": {
                    "location": {
                        "x": 2959.833251953125,
                        "y": 4257.099609375,
                        "z": 360.9480285644531
                    },
                    "rotation": {
                        "roll": 0.00010594455670798197,
                        "pitch": -0.4495562016963959,
                        "yaw": -170.8155975341797
                    }
                },
                "velocity": {
                    "x": -2.737189292907715,
                    "y": -0.44345855712890625,
                    "z": -0.02229144610464573
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.566632270812988,
                "transform": {
                    "location": {
                        "x": 2890.24560546875,
                        "y": 4249.1298828125,
                        "z": 360.4394836425781
                    },
                    "rotation": {
                        "roll": -0.0010070862481370568,
                        "pitch": -0.41867008805274963,
                        "yaw": -170.81546020507812
                    }
                },
                "velocity": {
                    "x": -11.418147087097168,
                    "y": -1.8457154035568237,
                    "z": -0.07895819842815399
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0020295646972954273,
                "transform": {
                    "location": {
                        "x": 2943.89453125,
                        "y": 4254.52197265625,
                        "z": 360.84423828125
                    },
                    "rotation": {
                        "roll": 0.0004688426561187953,
                        "pitch": -1.8874133825302124,
                        "yaw": -170.79708862304688
                    }
                },
                "velocity": {
                    "x": -0.0007610984030179679,
                    "y": -0.00010531425505178049,
                    "z": -0.0018785021966323256
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.465414047241211,
                "transform": {
                    "location": {
                        "x": 2894.13720703125,
                        "y": 4246.51806640625,
                        "z": 360.4709777832031
                    },
                    "rotation": {
                        "roll": -0.0032653810922056437,
                        "pitch": -0.06521464139223099,
                        "yaw": -170.46615600585938
                    }
                },
                "velocity": {
                    "x": -2.430781841278076,
                    "y": -0.4114464223384857,
                    "z": -0.016667937859892845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.8837490390287712e-05,
                "transform": {
                    "location": {
                        "x": 2882.380126953125,
                        "y": 4244.6650390625,
                        "z": 360.38336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3898603320121765,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.3176128049963154e-05,
                    "y": -1.563131718285149e-06,
                    "z": 2.5603654648875818e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3876567482948303,
        "expert_target_speed": 10.0,
        "target_point": [
            40.933520177501286,
            10.129646494871697
        ],
        "target_point_next": [
            82.3650761966301,
            17.01628072487891
        ]
    },
    "480": {
        "acceleration": [
            0.10316848754882812,
            -0.6710070371627808,
            -0.0016079097986221313
        ],
        "angular_velocity": [
            0.024158194661140442,
            -0.017130790278315544,
            9.87770938873291
        ],
        "forward_vector": [
            -0.9991041421890259,
            -0.041642703115940094,
            -0.0075324056670069695
        ],
        "right_vector": [
            0.04161332920193672,
            -0.9991257190704346,
            0.004015389364212751
        ],
        "location": [
            2930.11376953125,
            4255.814453125,
            360.7254638671875
        ],
        "rotation": [
            -0.230072021484375,
            -0.4315791428089142,
            -177.61329650878906
        ],
        "velocity": [
            -4.445335388183594,
            -0.4350389242172241,
            -0.033081699162721634
        ],
        "speed": 4.46657201654932,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 20.61234474182129,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2909.804931640625,
                4252.29345703125,
                360.5755310058594
            ],
            "velocity": [
                -10.858756065368652,
                -1.7548682689666748,
                -0.07788242399692535
            ],
            "speed_kmh": 39.59970735173989,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2852.165771484375,
                        "y": 4249.6533203125,
                        "z": 360.1820983886719
                    },
                    "rotation": {
                        "roll": -3.3351470474229927e-09,
                        "pitch": 0.4297964572906494,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2855.18896484375,
                        "y": 4246.849609375,
                        "z": 360.2752990722656
                    },
                    "rotation": {
                        "roll": -3.3351470474229927e-09,
                        "pitch": 0.4297964572906494,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.788829803466797,
                "transform": {
                    "location": {
                        "x": 2968.20703125,
                        "y": 4261.7490234375,
                        "z": 361.02276611328125
                    },
                    "rotation": {
                        "roll": 0.0006194465095177293,
                        "pitch": -0.46514269709587097,
                        "yaw": -170.74098205566406
                    }
                },
                "velocity": {
                    "x": -10.648120880126953,
                    "y": -1.734397292137146,
                    "z": -0.09078971296548843
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.955871105194092,
                "transform": {
                    "location": {
                        "x": 2892.735595703125,
                        "y": 4256.31689453125,
                        "z": 360.4743957519531
                    },
                    "rotation": {
                        "roll": -9.155271254712716e-05,
                        "pitch": 0.39458000659942627,
                        "yaw": 9.241177558898926
                    }
                },
                "velocity": {
                    "x": 7.8524346351623535,
                    "y": 1.2775958776474,
                    "z": 0.05389411002397537
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053450584411621,
                "transform": {
                    "location": {
                        "x": 2896.670166015625,
                        "y": 4253.66357421875,
                        "z": 360.4891662597656
                    },
                    "rotation": {
                        "roll": 5.759105260949582e-05,
                        "pitch": 0.39291343092918396,
                        "yaw": 9.205514907836914
                    }
                },
                "velocity": {
                    "x": 7.949532508850098,
                    "y": 1.288360834121704,
                    "z": 0.055881109088659286
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7917362451553345,
                "transform": {
                    "location": {
                        "x": 2943.47705078125,
                        "y": 4257.74267578125,
                        "z": 360.8180847167969
                    },
                    "rotation": {
                        "roll": 0.0004454243171494454,
                        "pitch": -0.4084111452102661,
                        "yaw": -170.90414428710938
                    }
                },
                "velocity": {
                    "x": -1.7686048746109009,
                    "y": -0.2867244780063629,
                    "z": -0.01200960110872984
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042237281799316,
                "transform": {
                    "location": {
                        "x": 2935.380859375,
                        "y": 4263.22021484375,
                        "z": 360.8108215332031
                    },
                    "rotation": {
                        "roll": 0.0014726597582921386,
                        "pitch": 0.42409324645996094,
                        "yaw": 9.1869478225708
                    }
                },
                "velocity": {
                    "x": 7.938841819763184,
                    "y": 1.2840157747268677,
                    "z": 0.06064813584089279
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045564651489258,
                "transform": {
                    "location": {
                        "x": 2938.27734375,
                        "y": 4260.39697265625,
                        "z": 360.79339599609375
                    },
                    "rotation": {
                        "roll": 0.0012753262417390943,
                        "pitch": 0.4258827567100525,
                        "yaw": 9.208489418029785
                    }
                },
                "velocity": {
                    "x": 7.942103862762451,
                    "y": 1.2847062349319458,
                    "z": 0.06024863198399544
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00083065032959,
                "transform": {
                    "location": {
                        "x": 2976.210205078125,
                        "y": 4269.82666015625,
                        "z": 361.1007995605469
                    },
                    "rotation": {
                        "roll": 0.00025536847533658147,
                        "pitch": 0.5104746222496033,
                        "yaw": 9.17779541015625
                    }
                },
                "velocity": {
                    "x": 7.897845268249512,
                    "y": 1.2775630950927734,
                    "z": 0.07192064076662064
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000221252441406,
                "transform": {
                    "location": {
                        "x": 2979.790771484375,
                        "y": 4267.11279296875,
                        "z": 361.1286315917969
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.5197568535804749,
                        "yaw": 9.194458961486816
                    }
                },
                "velocity": {
                    "x": 7.897289752960205,
                    "y": 1.2771791219711304,
                    "z": 0.07190879434347153
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.999918937683105,
                "transform": {
                    "location": {
                        "x": 2909.804931640625,
                        "y": 4252.29345703125,
                        "z": 360.5755310058594
                    },
                    "rotation": {
                        "roll": 0.0011657745344564319,
                        "pitch": -0.4110407531261444,
                        "yaw": -170.81520080566406
                    }
                },
                "velocity": {
                    "x": -10.858756065368652,
                    "y": -1.7548682689666748,
                    "z": -0.07788242399692535
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.465557336807251,
                "transform": {
                    "location": {
                        "x": 2959.052001953125,
                        "y": 4256.97314453125,
                        "z": 360.9415588378906
                    },
                    "rotation": {
                        "roll": -0.0001831032568588853,
                        "pitch": -0.44452235102653503,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -3.4208123683929443,
                    "y": -0.5544494390487671,
                    "z": -0.026747383177280426
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.320887565612793,
                "transform": {
                    "location": {
                        "x": 2887.55126953125,
                        "y": 4248.69482421875,
                        "z": 360.4210510253906
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": -0.42910662293434143,
                        "yaw": -170.80795288085938
                    }
                },
                "velocity": {
                    "x": -10.188236236572266,
                    "y": -1.6479225158691406,
                    "z": -0.07004940509796143
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6888728737831116,
                "transform": {
                    "location": {
                        "x": 2943.78955078125,
                        "y": 4254.50537109375,
                        "z": 360.8333435058594
                    },
                    "rotation": {
                        "roll": 0.0031261127442121506,
                        "pitch": -0.6653081774711609,
                        "yaw": -170.7598114013672
                    }
                },
                "velocity": {
                    "x": -0.6800656914710999,
                    "y": -0.10977514088153839,
                    "z": -0.0024299907963722944
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006469450891017914,
                "transform": {
                    "location": {
                        "x": 2893.79638671875,
                        "y": 4246.46044921875,
                        "z": 360.474365234375
                    },
                    "rotation": {
                        "roll": -0.00036621562321670353,
                        "pitch": -0.7746527194976807,
                        "yaw": -170.4752655029297
                    }
                },
                "velocity": {
                    "x": -0.0062915263697505,
                    "y": -0.0012396858073771,
                    "z": -0.0008565440075471997
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6207844614982605,
                "transform": {
                    "location": {
                        "x": 2882.334716796875,
                        "y": 4244.6572265625,
                        "z": 360.3829345703125
                    },
                    "rotation": {
                        "roll": 3.224065585527569e-05,
                        "pitch": -0.3770742416381836,
                        "yaw": -170.7947540283203
                    }
                },
                "velocity": {
                    "x": -0.6119568347930908,
                    "y": -0.1042390763759613,
                    "z": -0.004052762873470783
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3905332088470459,
        "expert_target_speed": 10.0,
        "target_point": [
            40.23798327755139,
            8.206449088638218
        ],
        "target_point_next": [
            81.94209885960542,
            13.183025090549135
        ]
    },
    "485": {
        "acceleration": [
            0.23642539978027344,
            -0.7639575004577637,
            -0.0009025633335113525
        ],
        "angular_velocity": [
            -0.11887013912200928,
            -0.02994920313358307,
            10.07909870147705
        ],
        "forward_vector": [
            -0.9963556528091431,
            -0.08495119959115982,
            -0.007665558718144894
        ],
        "right_vector": [
            0.08491938561201096,
            -0.9963782429695129,
            0.004385550040751696
        ],
        "location": [
            2929.009033203125,
            4255.69091796875,
            360.7173767089844
        ],
        "rotation": [
            -0.2512817084789276,
            -0.439208447933197,
            -175.1266326904297
        ],
        "velocity": [
            -4.387257099151611,
            -0.626978874206543,
            -0.03304267302155495
        ],
        "speed": 4.43183115232942,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 22.101428985595703,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2907.239501953125,
                4251.87841796875,
                360.55755615234375
            ],
            "velocity": [
                -9.704644203186035,
                -1.5687638521194458,
                -0.06829848140478134
            ],
            "speed_kmh": 35.39109517187306,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2854.22216796875,
                        "y": 4249.98583984375,
                        "z": 360.1969909667969
                    },
                    "rotation": {
                        "roll": -3.3351470474229927e-09,
                        "pitch": 0.4297964572906494,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2857.24365234375,
                        "y": 4247.1826171875,
                        "z": 360.2315673828125
                    },
                    "rotation": {
                        "roll": 6.670286545329418e-09,
                        "pitch": 0.42088305950164795,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.692243576049805,
                "transform": {
                    "location": {
                        "x": 2965.43017578125,
                        "y": 4261.296875,
                        "z": 360.99896240234375
                    },
                    "rotation": {
                        "roll": -3.3351601480546833e-09,
                        "pitch": -0.45843544602394104,
                        "yaw": -170.76902770996094
                    }
                },
                "velocity": {
                    "x": -11.54051399230957,
                    "y": -1.8749864101409912,
                    "z": -0.09754209965467453
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06455135345459,
                "transform": {
                    "location": {
                        "x": 2894.71142578125,
                        "y": 4256.6376953125,
                        "z": 360.4881591796875
                    },
                    "rotation": {
                        "roll": 0.0005119855049997568,
                        "pitch": 0.38455328345298767,
                        "yaw": 9.227566719055176
                    }
                },
                "velocity": {
                    "x": 7.9604973793029785,
                    "y": 1.2901912927627563,
                    "z": 0.05359721928834915
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082999229431152,
                "transform": {
                    "location": {
                        "x": 2898.6630859375,
                        "y": 4253.986328125,
                        "z": 360.50299072265625
                    },
                    "rotation": {
                        "roll": 0.0004362518957350403,
                        "pitch": 0.39333006739616394,
                        "yaw": 9.202482223510742
                    }
                },
                "velocity": {
                    "x": 7.978784561157227,
                    "y": 1.2925697565078735,
                    "z": 0.05594487860798836
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8449397087097168,
                "transform": {
                    "location": {
                        "x": 2943.07373046875,
                        "y": 4257.67724609375,
                        "z": 360.815185546875
                    },
                    "rotation": {
                        "roll": 0.0005849107983522117,
                        "pitch": -0.42156606912612915,
                        "yaw": -170.87974548339844
                    }
                },
                "velocity": {
                    "x": -1.8211498260498047,
                    "y": -0.2950238883495331,
                    "z": -0.0132881635800004
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007298469543457,
                "transform": {
                    "location": {
                        "x": 2937.36083984375,
                        "y": 4263.54052734375,
                        "z": 360.8255310058594
                    },
                    "rotation": {
                        "roll": 0.0007697546388953924,
                        "pitch": 0.42402493953704834,
                        "yaw": 9.186943054199219
                    }
                },
                "velocity": {
                    "x": 7.904364585876465,
                    "y": 1.2783862352371216,
                    "z": 0.05984175577759743
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045990943908691,
                "transform": {
                    "location": {
                        "x": 2940.262939453125,
                        "y": 4260.7177734375,
                        "z": 360.8081970214844
                    },
                    "rotation": {
                        "roll": 0.0010285020107403398,
                        "pitch": 0.4251519441604614,
                        "yaw": 9.173358917236328
                    }
                },
                "velocity": {
                    "x": 7.942662715911865,
                    "y": 1.283905267715454,
                    "z": 0.060535334050655365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000450134277344,
                "transform": {
                    "location": {
                        "x": 2978.1845703125,
                        "y": 4270.14697265625,
                        "z": 361.1187438964844
                    },
                    "rotation": {
                        "roll": 1.3157314242562279e-05,
                        "pitch": 0.5143268704414368,
                        "yaw": 9.199665069580078
                    }
                },
                "velocity": {
                    "x": 7.897468090057373,
                    "y": 1.2774914503097534,
                    "z": 0.07221347838640213
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000239372253418,
                "transform": {
                    "location": {
                        "x": 2981.76513671875,
                        "y": 4267.43310546875,
                        "z": 361.14678955078125
                    },
                    "rotation": {
                        "roll": 3.898840077454224e-05,
                        "pitch": 0.5239506363868713,
                        "yaw": 9.179430961608887
                    }
                },
                "velocity": {
                    "x": 7.897241115570068,
                    "y": 1.2775635719299316,
                    "z": 0.07246412336826324
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.830860137939453,
                "transform": {
                    "location": {
                        "x": 2907.239501953125,
                        "y": 4251.87841796875,
                        "z": 360.55755615234375
                    },
                    "rotation": {
                        "roll": 0.0001456292811781168,
                        "pitch": -0.4344478249549866,
                        "yaw": -170.82626342773438
                    }
                },
                "velocity": {
                    "x": -9.704644203186035,
                    "y": -1.5687638521194458,
                    "z": -0.06829848140478134
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.09746789932251,
                "transform": {
                    "location": {
                        "x": 2958.12158203125,
                        "y": 4256.822265625,
                        "z": 360.9340515136719
                    },
                    "rotation": {
                        "roll": 0.00016698773833923042,
                        "pitch": -0.44192686676979065,
                        "yaw": -170.80332946777344
                    }
                },
                "velocity": {
                    "x": -4.0446600914001465,
                    "y": -0.6549007296562195,
                    "z": -0.03273238241672516
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.010858535766602,
                "transform": {
                    "location": {
                        "x": 2885.1455078125,
                        "y": 4248.3056640625,
                        "z": 360.40447998046875
                    },
                    "rotation": {
                        "roll": 0.0011563185835257173,
                        "pitch": -0.42858752608299255,
                        "yaw": -170.79994201660156
                    }
                },
                "velocity": {
                    "x": -8.894853591918945,
                    "y": -1.4399209022521973,
                    "z": -0.06144220381975174
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8856520056724548,
                "transform": {
                    "location": {
                        "x": 2943.572509765625,
                        "y": 4254.470703125,
                        "z": 360.828125
                    },
                    "rotation": {
                        "roll": -3.0517530831275508e-05,
                        "pitch": -0.165891632437706,
                        "yaw": -170.74542236328125
                    }
                },
                "velocity": {
                    "x": -0.8741877675056458,
                    "y": -0.14191985130310059,
                    "z": -0.005825138185173273
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.290120005607605,
                "transform": {
                    "location": {
                        "x": 2893.588134765625,
                        "y": 4246.4248046875,
                        "z": 360.47003173828125
                    },
                    "rotation": {
                        "roll": -0.0020752009004354477,
                        "pitch": -0.4267297089099884,
                        "yaw": -170.4776153564453
                    }
                },
                "velocity": {
                    "x": -1.2720000743865967,
                    "y": -0.21532350778579712,
                    "z": -0.007826508954167366
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5088337659835815,
                "transform": {
                    "location": {
                        "x": 2882.07080078125,
                        "y": 4244.61279296875,
                        "z": 360.3810729980469
                    },
                    "rotation": {
                        "roll": -0.0014953621430322528,
                        "pitch": -0.36917170882225037,
                        "yaw": -170.69393920898438
                    }
                },
                "velocity": {
                    "x": -1.4869202375411987,
                    "y": -0.2560114562511444,
                    "z": -0.010287475772202015
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3445277810096741,
        "expert_target_speed": 5.547737038232677,
        "target_point": [
            39.444906479198174,
            6.423692641759918
        ],
        "target_point_next": [
            81.32566863534221,
            9.586180017957613
        ]
    },
    "490": {
        "acceleration": [
            -0.5103683471679688,
            -0.41121363639831543,
            0.011323168873786926
        ],
        "angular_velocity": [
            0.20630919933319092,
            0.2126743495464325,
            8.074119567871094
        ],
        "forward_vector": [
            -0.9921097755432129,
            -0.12515883147716522,
            -0.00731509318575263
        ],
        "right_vector": [
            0.125133216381073,
            -0.9921324253082275,
            0.0038625355809926987
        ],
        "location": [
            2927.90966796875,
            4255.52294921875,
            360.70916748046875
        ],
        "rotation": [
            -0.2213134616613388,
            -0.4191277027130127,
            -172.80987548828125
        ],
        "velocity": [
            -4.429895877838135,
            -0.7667995095252991,
            -0.03263664245605469
        ],
        "speed": 4.495771232646913,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 23.240093231201172,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2905.01708984375,
                4251.5224609375,
                360.54217529296875
            ],
            "velocity": [
                -7.702523231506348,
                -1.2457070350646973,
                -0.05423016846179962
            ],
            "speed_kmh": 28.09005767422306,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2856.2783203125,
                        "y": 4250.31884765625,
                        "z": 360.2120361328125
                    },
                    "rotation": {
                        "roll": -3.3351470474229927e-09,
                        "pitch": 0.4297964572906494,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.9697136878967285,
                "transform": {
                    "location": {
                        "x": 2859.25927734375,
                        "y": 4247.5078125,
                        "z": 360.23846435546875
                    },
                    "rotation": {
                        "roll": -0.00207519275136292,
                        "pitch": 0.2780979573726654,
                        "yaw": 9.199431419372559
                    }
                },
                "velocity": {
                    "x": 6.879735469818115,
                    "y": 1.1162852048873901,
                    "z": 0.007274646777659655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.224966049194336,
                "transform": {
                    "location": {
                        "x": 2962.557373046875,
                        "y": 4260.83056640625,
                        "z": 360.9750671386719
                    },
                    "rotation": {
                        "roll": -0.00015259059728123248,
                        "pitch": -0.47500547766685486,
                        "yaw": -170.78794860839844
                    }
                },
                "velocity": {
                    "x": -11.079751968383789,
                    "y": -1.7973144054412842,
                    "z": -0.09282170236110687
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004816055297852,
                "transform": {
                    "location": {
                        "x": 2896.69580078125,
                        "y": 4256.95947265625,
                        "z": 360.5017395019531
                    },
                    "rotation": {
                        "roll": 0.0007877210155129433,
                        "pitch": 0.38862407207489014,
                        "yaw": 9.216987609863281
                    }
                },
                "velocity": {
                    "x": 7.901286602020264,
                    "y": 1.2821204662322998,
                    "z": 0.05413201078772545
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.037155151367188,
                "transform": {
                    "location": {
                        "x": 2900.65087890625,
                        "y": 4254.30810546875,
                        "z": 360.51678466796875
                    },
                    "rotation": {
                        "roll": -0.0010375931160524487,
                        "pitch": 0.39495566487312317,
                        "yaw": 9.201537132263184
                    }
                },
                "velocity": {
                    "x": 7.933537483215332,
                    "y": 1.2851661443710327,
                    "z": 0.05647214874625206
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.2136614322662354,
                "transform": {
                    "location": {
                        "x": 2942.445556640625,
                        "y": 4257.5751953125,
                        "z": 360.80987548828125
                    },
                    "rotation": {
                        "roll": 0.0008018565713427961,
                        "pitch": -0.34795713424682617,
                        "yaw": -170.9322967529297
                    }
                },
                "velocity": {
                    "x": -3.1718556880950928,
                    "y": -0.5161502361297607,
                    "z": -0.023224974051117897
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043280601501465,
                "transform": {
                    "location": {
                        "x": 2939.341796875,
                        "y": 4263.86083984375,
                        "z": 360.84033203125
                    },
                    "rotation": {
                        "roll": 0.00015676848124712706,
                        "pitch": 0.42496752738952637,
                        "yaw": 9.187090873718262
                    }
                },
                "velocity": {
                    "x": 7.939888000488281,
                    "y": 1.284099817276001,
                    "z": 0.060243651270866394
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045586585998535,
                "transform": {
                    "location": {
                        "x": 2942.248291015625,
                        "y": 4261.03857421875,
                        "z": 360.8231201171875
                    },
                    "rotation": {
                        "roll": 0.0003190501010976732,
                        "pitch": 0.42851921916007996,
                        "yaw": 9.206915855407715
                    }
                },
                "velocity": {
                    "x": 7.942008018493652,
                    "y": 1.285412073135376,
                    "z": 0.06075475737452507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000435829162598,
                "transform": {
                    "location": {
                        "x": 2980.158935546875,
                        "y": 4270.46728515625,
                        "z": 361.13677978515625
                    },
                    "rotation": {
                        "roll": -0.0007019045297056437,
                        "pitch": 0.523520290851593,
                        "yaw": 9.179128646850586
                    }
                },
                "velocity": {
                    "x": 7.897449016571045,
                    "y": 1.2775112390518188,
                    "z": 0.07236451655626297
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00127124786377,
                "transform": {
                    "location": {
                        "x": 2983.739501953125,
                        "y": 4267.75244140625,
                        "z": 361.1650390625
                    },
                    "rotation": {
                        "roll": -0.0005493196076713502,
                        "pitch": 0.5249614715576172,
                        "yaw": 9.200654029846191
                    }
                },
                "velocity": {
                    "x": 7.898294925689697,
                    "y": 1.2774848937988281,
                    "z": 0.07288610190153122
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.802793979644775,
                "transform": {
                    "location": {
                        "x": 2905.01708984375,
                        "y": 4251.5224609375,
                        "z": 360.54217529296875
                    },
                    "rotation": {
                        "roll": -0.0006408712361007929,
                        "pitch": -0.4609967768192291,
                        "yaw": -170.53384399414062
                    }
                },
                "velocity": {
                    "x": -7.702523231506348,
                    "y": -1.2457070350646973,
                    "z": -0.05423016846179962
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.860824108123779,
                "transform": {
                    "location": {
                        "x": 2957.013671875,
                        "y": 4256.64306640625,
                        "z": 360.92498779296875
                    },
                    "rotation": {
                        "roll": -0.0011596719268709421,
                        "pitch": -0.4383547008037567,
                        "yaw": -170.80111694335938
                    }
                },
                "velocity": {
                    "x": -4.798139572143555,
                    "y": -0.7771819829940796,
                    "z": -0.03816942498087883
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.402063846588135,
                "transform": {
                    "location": {
                        "x": 2883.302734375,
                        "y": 4248.00634765625,
                        "z": 360.3921813964844
                    },
                    "rotation": {
                        "roll": 0.0013702253345400095,
                        "pitch": -0.4669800102710724,
                        "yaw": -170.88365173339844
                    }
                },
                "velocity": {
                    "x": -6.319590091705322,
                    "y": -1.0233559608459473,
                    "z": -0.04413466900587082
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0278651714324951,
                "transform": {
                    "location": {
                        "x": 2943.35546875,
                        "y": 4254.43505859375,
                        "z": 360.82818603515625
                    },
                    "rotation": {
                        "roll": -0.0014343293150886893,
                        "pitch": -0.38912951946258545,
                        "yaw": -170.75228881835938
                    }
                },
                "velocity": {
                    "x": -1.014550805091858,
                    "y": -0.16473960876464844,
                    "z": -0.00737636536359787
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7353037595748901,
                "transform": {
                    "location": {
                        "x": 2893.11865234375,
                        "y": 4246.345703125,
                        "z": 360.46429443359375
                    },
                    "rotation": {
                        "roll": 0.00015363282000180334,
                        "pitch": -0.10626407712697983,
                        "yaw": -170.52870178222656
                    }
                },
                "velocity": {
                    "x": -1.7114810943603516,
                    "y": -0.2863328754901886,
                    "z": -0.011188334785401821
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.275792121887207,
                "transform": {
                    "location": {
                        "x": 2881.6005859375,
                        "y": 4244.533203125,
                        "z": 360.3778076171875
                    },
                    "rotation": {
                        "roll": -0.002777101704850793,
                        "pitch": -0.3701825737953186,
                        "yaw": -170.59744262695312
                    }
                },
                "velocity": {
                    "x": -2.242887258529663,
                    "y": -0.38530075550079346,
                    "z": -0.015138568356633186
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.262805700302124,
        "expert_target_speed": 5.6076101621502215,
        "target_point": [
            38.56059413236773,
            4.794860781835448
        ],
        "target_point_next": [
            80.5349644506486,
            6.261762812626335
        ]
    },
    "495": {
        "acceleration": [
            -1.2896251678466797,
            0.45281410217285156,
            -0.008380934596061707
        ],
        "angular_velocity": [
            0.7903751134872437,
            0.3826175034046173,
            1.879074215888977
        ],
        "forward_vector": [
            -0.9891065359115601,
            -0.14706918597221375,
            -0.006243426352739334
        ],
        "right_vector": [
            0.14706602692604065,
            -0.9891262054443359,
            0.0009629801497794688
        ],
        "location": [
            2926.7724609375,
            4255.3359375,
            360.70050048828125
        ],
        "rotation": [
            -0.05517578125,
            -0.35772430896759033,
            -171.54270935058594
        ],
        "velocity": [
            -4.678799629211426,
            -0.7528790831565857,
            -0.03340430557727814
        ],
        "speed": 4.738986482800271,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 23.935754776000977,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2903.1923828125,
                4251.228515625,
                360.5290832519531
            ],
            "velocity": [
                -7.225130081176758,
                -1.1776188611984253,
                -0.05085273087024689
            ],
            "speed_kmh": 26.354330275430375,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.72243595123291,
                "transform": {
                    "location": {
                        "x": 2858.217041015625,
                        "y": 4250.63330078125,
                        "z": 360.2242431640625
                    },
                    "rotation": {
                        "roll": -0.004760741721838713,
                        "pitch": 0.3249940574169159,
                        "yaw": 9.24918270111084
                    }
                },
                "velocity": {
                    "x": 6.629824638366699,
                    "y": 1.1119743585586548,
                    "z": 0.009152097627520561
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.627688407897949,
                "transform": {
                    "location": {
                        "x": 2860.923583984375,
                        "y": 4247.78955078125,
                        "z": 360.2436218261719
                    },
                    "rotation": {
                        "roll": -0.0205078087747097,
                        "pitch": 0.3203904926776886,
                        "yaw": 9.62900161743164
                    }
                },
                "velocity": {
                    "x": 6.530986309051514,
                    "y": 1.127506971359253,
                    "z": 0.034679021686315536
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.863862991333008,
                "transform": {
                    "location": {
                        "x": 2959.9599609375,
                        "y": 4260.40966796875,
                        "z": 360.9537353515625
                    },
                    "rotation": {
                        "roll": -6.103375926613808e-05,
                        "pitch": -0.4959399998188019,
                        "yaw": -170.79302978515625
                    }
                },
                "velocity": {
                    "x": -9.736589431762695,
                    "y": -1.5773627758026123,
                    "z": -0.0809091255068779
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.048745155334473,
                "transform": {
                    "location": {
                        "x": 2898.67578125,
                        "y": 4257.28076171875,
                        "z": 360.5154724121094
                    },
                    "rotation": {
                        "roll": -0.001129155163653195,
                        "pitch": 0.3911648988723755,
                        "yaw": 9.20958137512207
                    }
                },
                "velocity": {
                    "x": 7.944802761077881,
                    "y": 1.2881007194519043,
                    "z": 0.056566305458545685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084263801574707,
                "transform": {
                    "location": {
                        "x": 2902.640625,
                        "y": 4254.63037109375,
                        "z": 360.53070068359375
                    },
                    "rotation": {
                        "roll": -0.0007019020267762244,
                        "pitch": 0.3955567181110382,
                        "yaw": 9.201591491699219
                    }
                },
                "velocity": {
                    "x": 7.980040550231934,
                    "y": 1.2926967144012451,
                    "z": 0.05657578259706497
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.7343268394470215,
                "transform": {
                    "location": {
                        "x": 2941.461181640625,
                        "y": 4257.4150390625,
                        "z": 360.8023986816406
                    },
                    "rotation": {
                        "roll": 0.0009040008299052715,
                        "pitch": -0.3265376687049866,
                        "yaw": -171.0204620361328
                    }
                },
                "velocity": {
                    "x": -4.673497200012207,
                    "y": -0.7556905746459961,
                    "z": -0.0347103551030159
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00565242767334,
                "transform": {
                    "location": {
                        "x": 2941.32177734375,
                        "y": 4264.18115234375,
                        "z": 360.8551330566406
                    },
                    "rotation": {
                        "roll": -0.000488281948491931,
                        "pitch": 0.42566418647766113,
                        "yaw": 9.186890602111816
                    }
                },
                "velocity": {
                    "x": 7.902740478515625,
                    "y": 1.2780770063400269,
                    "z": 0.06065858528017998
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045350074768066,
                "transform": {
                    "location": {
                        "x": 2944.23388671875,
                        "y": 4261.3603515625,
                        "z": 360.8380432128906
                    },
                    "rotation": {
                        "roll": -0.0006713853217661381,
                        "pitch": 0.43264463543891907,
                        "yaw": 9.182435989379883
                    }
                },
                "velocity": {
                    "x": 7.94165563583374,
                    "y": 1.2861312627792358,
                    "z": 0.06028520315885544
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000690460205078,
                "transform": {
                    "location": {
                        "x": 2982.1337890625,
                        "y": 4270.7861328125,
                        "z": 361.1549987792969
                    },
                    "rotation": {
                        "roll": -0.001281737582758069,
                        "pitch": 0.5229602456092834,
                        "yaw": 9.196499824523926
                    }
                },
                "velocity": {
                    "x": 7.897652626037598,
                    "y": 1.277849793434143,
                    "z": 0.0723365992307663
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000657081604004,
                "transform": {
                    "location": {
                        "x": 2985.714111328125,
                        "y": 4268.0732421875,
                        "z": 361.1833801269531
                    },
                    "rotation": {
                        "roll": 0.0006648345151916146,
                        "pitch": 0.5291210412979126,
                        "yaw": 9.17793083190918
                    }
                },
                "velocity": {
                    "x": 7.8976664543151855,
                    "y": 1.27754807472229,
                    "z": 0.07245299965143204
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.320647239685059,
                "transform": {
                    "location": {
                        "x": 2903.1923828125,
                        "y": 4251.228515625,
                        "z": 360.5290832519531
                    },
                    "rotation": {
                        "roll": -0.0041503882966935635,
                        "pitch": -0.4259032607078552,
                        "yaw": -170.2571258544922
                    }
                },
                "velocity": {
                    "x": -7.225130081176758,
                    "y": -1.1776188611984253,
                    "z": -0.05085273087024689
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.230064868927002,
                "transform": {
                    "location": {
                        "x": 2955.740478515625,
                        "y": 4256.43701171875,
                        "z": 360.91510009765625
                    },
                    "rotation": {
                        "roll": 0.00010176221985602751,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.79733276367188
                    }
                },
                "velocity": {
                    "x": -5.1625657081604,
                    "y": -0.8365336656570435,
                    "z": -0.0412919707596302
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.619175910949707,
                "transform": {
                    "location": {
                        "x": 2881.85205078125,
                        "y": 4247.77294921875,
                        "z": 360.3818359375
                    },
                    "rotation": {
                        "roll": 0.0008189583313651383,
                        "pitch": -0.4259032607078552,
                        "yaw": -170.7098846435547
                    }
                },
                "velocity": {
                    "x": -5.546742916107178,
                    "y": -0.8984763026237488,
                    "z": -0.038987260311841965
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.211536407470703,
                "transform": {
                    "location": {
                        "x": 2942.946533203125,
                        "y": 4254.36865234375,
                        "z": 360.8236999511719
                    },
                    "rotation": {
                        "roll": -0.0018005367601290345,
                        "pitch": -0.22159181535243988,
                        "yaw": -170.74334716796875
                    }
                },
                "velocity": {
                    "x": -2.1828854084014893,
                    "y": -0.35445791482925415,
                    "z": -0.01625858247280121
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7151987552642822,
                "transform": {
                    "location": {
                        "x": 2892.864013671875,
                        "y": 4246.30224609375,
                        "z": 360.4653015136719
                    },
                    "rotation": {
                        "roll": 0.002374805975705385,
                        "pitch": -0.4441193640232086,
                        "yaw": -170.5070343017578
                    }
                },
                "velocity": {
                    "x": -1.6912693977355957,
                    "y": -0.28528061509132385,
                    "z": -0.011376275680959225
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.088850736618042,
                "transform": {
                    "location": {
                        "x": 2880.931884765625,
                        "y": 4244.41845703125,
                        "z": 360.37322998046875
                    },
                    "rotation": {
                        "roll": -0.0025939925108104944,
                        "pitch": -0.3729214668273926,
                        "yaw": -170.48280334472656
                    }
                },
                "velocity": {
                    "x": -3.044015407562256,
                    "y": -0.5239434838294983,
                    "z": -0.021291455253958702
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2190888524055481,
        "expert_target_speed": 5.834553692550675,
        "target_point": [
            37.504854412990944,
            3.923218147497474
        ],
        "target_point_next": [
            79.50139941095313,
            4.461524211232627
        ]
    },
    "500": {
        "acceleration": [
            -1.3889312744140625,
            -0.1267099380493164,
            0.037732645869255066
        ],
        "angular_velocity": [
            -0.020955558866262436,
            0.19028699398040771,
            -0.5301685333251953
        ],
        "forward_vector": [
            -0.9891350269317627,
            -0.1469164937734604,
            -0.005242561921477318
        ],
        "right_vector": [
            0.14692263305187225,
            -0.9891477227210999,
            -0.0008009272860363126
        ],
        "location": [
            2925.55712890625,
            4255.15478515625,
            360.69171142578125
        ],
        "rotation": [
            0.045890387147665024,
            -0.30037805438041687,
            -171.55160522460938
        ],
        "velocity": [
            -5.024773597717285,
            -0.7353506088256836,
            -0.03352607041597366
        ],
        "speed": 5.078295996317762,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 24.617158889770508,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2901.307861328125,
                4250.91845703125,
                360.5154113769531
            ],
            "velocity": [
                -7.894314289093018,
                -1.2872812747955322,
                -0.05391502380371094
            ],
            "speed_kmh": 28.795544206482898,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.758656978607178,
                "transform": {
                    "location": {
                        "x": 2859.878662109375,
                        "y": 4250.91748046875,
                        "z": 360.22979736328125
                    },
                    "rotation": {
                        "roll": -0.003723145229741931,
                        "pitch": 0.38796156644821167,
                        "yaw": 9.6715726852417
                    }
                },
                "velocity": {
                    "x": 6.657671928405762,
                    "y": 1.1633784770965576,
                    "z": 0.03739441931247711
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.818321704864502,
                "transform": {
                    "location": {
                        "x": 2862.581298828125,
                        "y": 4248.07763671875,
                        "z": 360.25439453125
                    },
                    "rotation": {
                        "roll": 0.003570591565221548,
                        "pitch": 0.39991438388824463,
                        "yaw": 9.82275390625
                    }
                },
                "velocity": {
                    "x": 6.719516277313232,
                    "y": 1.1555854082107544,
                    "z": 0.0472918301820755
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.58163833618164,
                "transform": {
                    "location": {
                        "x": 2957.69189453125,
                        "y": 4260.0419921875,
                        "z": 360.9351806640625
                    },
                    "rotation": {
                        "roll": -0.0005493200151249766,
                        "pitch": -0.48953330516815186,
                        "yaw": -170.79586791992188
                    }
                },
                "velocity": {
                    "x": -8.470863342285156,
                    "y": -1.3726705312728882,
                    "z": -0.06911948323249817
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9997172355651855,
                "transform": {
                    "location": {
                        "x": 2900.65576171875,
                        "y": 4257.6015625,
                        "z": 360.52923583984375
                    },
                    "rotation": {
                        "roll": 9.759928798303008e-05,
                        "pitch": 0.39274951815605164,
                        "yaw": 9.206222534179688
                    }
                },
                "velocity": {
                    "x": 7.896500110626221,
                    "y": 1.2796841859817505,
                    "z": 0.05630595237016678
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043286323547363,
                "transform": {
                    "location": {
                        "x": 2904.630615234375,
                        "y": 4254.95263671875,
                        "z": 360.5446472167969
                    },
                    "rotation": {
                        "roll": 0.00045465544098988175,
                        "pitch": 0.39850735664367676,
                        "yaw": 9.20147705078125
                    }
                },
                "velocity": {
                    "x": 7.939587116241455,
                    "y": 1.2861707210540771,
                    "z": 0.056389760226011276
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.391002655029297,
                "transform": {
                    "location": {
                        "x": 2940.18017578125,
                        "y": 4257.2080078125,
                        "z": 360.7926330566406
                    },
                    "rotation": {
                        "roll": 0.0007501942454837263,
                        "pitch": -0.30636128783226013,
                        "yaw": -171.01622009277344
                    }
                },
                "velocity": {
                    "x": -6.308870792388916,
                    "y": -1.0202487707138062,
                    "z": -0.04641512408852577
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042160034179688,
                "transform": {
                    "location": {
                        "x": 2943.302001953125,
                        "y": 4264.50146484375,
                        "z": 360.87005615234375
                    },
                    "rotation": {
                        "roll": 0.00017946097068488598,
                        "pitch": 0.4317772090435028,
                        "yaw": 9.187018394470215
                    }
                },
                "velocity": {
                    "x": 7.938760280609131,
                    "y": 1.2840087413787842,
                    "z": 0.06121065095067024
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04588508605957,
                "transform": {
                    "location": {
                        "x": 2946.21923828125,
                        "y": 4261.681640625,
                        "z": 360.8531188964844
                    },
                    "rotation": {
                        "roll": 0.000971272005699575,
                        "pitch": 0.43322521448135376,
                        "yaw": 9.208470344543457
                    }
                },
                "velocity": {
                    "x": 7.942390441894531,
                    "y": 1.2848865985870361,
                    "z": 0.06135370209813118
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000332832336426,
                "transform": {
                    "location": {
                        "x": 2984.108154296875,
                        "y": 4271.10595703125,
                        "z": 361.17327880859375
                    },
                    "rotation": {
                        "roll": 0.0003876861883327365,
                        "pitch": 0.5252141952514648,
                        "yaw": 9.175857543945312
                    }
                },
                "velocity": {
                    "x": 7.8973894119262695,
                    "y": 1.2772305011749268,
                    "z": 0.07251880317926407
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000131607055664,
                "transform": {
                    "location": {
                        "x": 2987.6884765625,
                        "y": 4268.39306640625,
                        "z": 361.2018127441406
                    },
                    "rotation": {
                        "roll": 0.0006078360602259636,
                        "pitch": 0.5298928618431091,
                        "yaw": 9.198064804077148
                    }
                },
                "velocity": {
                    "x": 7.897167682647705,
                    "y": 1.277327060699463,
                    "z": 0.07275819778442383
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.998762130737305,
                "transform": {
                    "location": {
                        "x": 2901.307861328125,
                        "y": 4250.91845703125,
                        "z": 360.5154113769531
                    },
                    "rotation": {
                        "roll": -0.0026245107874274254,
                        "pitch": -0.37841296195983887,
                        "yaw": -170.50680541992188
                    }
                },
                "velocity": {
                    "x": -7.894314289093018,
                    "y": -1.2872812747955322,
                    "z": -0.05391502380371094
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1013014316558838,
                "transform": {
                    "location": {
                        "x": 2954.896240234375,
                        "y": 4256.2998046875,
                        "z": 360.90869140625
                    },
                    "rotation": {
                        "roll": -6.103742634877563e-05,
                        "pitch": -0.5303983092308044,
                        "yaw": -170.79681396484375
                    }
                },
                "velocity": {
                    "x": -1.087097406387329,
                    "y": -0.17612199485301971,
                    "z": -0.008059387095272541
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.64499568939209,
                "transform": {
                    "location": {
                        "x": 2880.481201171875,
                        "y": 4247.55126953125,
                        "z": 360.3719482421875
                    },
                    "rotation": {
                        "roll": -0.0005493196658790112,
                        "pitch": -0.3956250250339508,
                        "yaw": -170.6726837158203
                    }
                },
                "velocity": {
                    "x": -5.57204532623291,
                    "y": -0.9038077592849731,
                    "z": -0.03768570348620415
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.01829179935157299,
                "transform": {
                    "location": {
                        "x": 2942.48876953125,
                        "y": 4254.29541015625,
                        "z": 360.8235778808594
                    },
                    "rotation": {
                        "roll": -0.0024719280190765858,
                        "pitch": -0.6243270635604858,
                        "yaw": -170.65953063964844
                    }
                },
                "velocity": {
                    "x": -0.01820964738726616,
                    "y": -0.0017309379763901234,
                    "z": -5.021989272790961e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.535219430923462,
                "transform": {
                    "location": {
                        "x": 2892.29052734375,
                        "y": 4246.20556640625,
                        "z": 360.458984375
                    },
                    "rotation": {
                        "roll": -0.0036926267202943563,
                        "pitch": -0.1398344486951828,
                        "yaw": -170.49806213378906
                    }
                },
                "velocity": {
                    "x": -2.4996025562286377,
                    "y": -0.4231022894382477,
                    "z": -0.017576303333044052
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8238346576690674,
                "transform": {
                    "location": {
                        "x": 2880.077392578125,
                        "y": 4244.2724609375,
                        "z": 360.3673095703125
                    },
                    "rotation": {
                        "roll": -0.003295900532975793,
                        "pitch": -0.375701367855072,
                        "yaw": -170.3778076171875
                    }
                },
                "velocity": {
                    "x": -3.768173933029175,
                    "y": -0.6495205760002136,
                    "z": -0.026453666388988495
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.25678396224975586,
        "expert_target_speed": 6.147569607463241,
        "target_point": [
            36.27548549100717,
            3.928416514394404
        ],
        "target_point_next": [
            78.27194630246699,
            4.473250888893158
        ]
    },
    "505": {
        "acceleration": [
            1.0168075561523438,
            0.19069790840148926,
            -0.015128850936889648
        ],
        "angular_velocity": [
            -0.007567589171230793,
            -0.47769951820373535,
            -0.5278791785240173
        ],
        "forward_vector": [
            -0.9892818331718445,
            -0.14587803184986115,
            -0.006409600842744112
        ],
        "right_vector": [
            0.14588412642478943,
            -0.9893015623092651,
            -0.0004922072403132915
        ],
        "location": [
            2924.306396484375,
            4254.97216796875,
            360.6829528808594
        ],
        "rotation": [
            0.028201976791024208,
            -0.3672455847263336,
            -171.6116943359375
        ],
        "velocity": [
            -4.97314977645874,
            -0.7218254208564758,
            -0.037536345422267914
        ],
        "speed": 5.025261250650184,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 25.466516494750977,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2899.22265625,
                4250.5771484375,
                360.500732421875
            ],
            "velocity": [
                -9.102191925048828,
                -1.4758169651031494,
                -0.06273248791694641
            ],
            "speed_kmh": 33.19658146861752,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.655786991119385,
                "transform": {
                    "location": {
                        "x": 2861.5302734375,
                        "y": 4251.20458984375,
                        "z": 360.24053955078125
                    },
                    "rotation": {
                        "roll": 0.003706457559019327,
                        "pitch": 0.41270050406455994,
                        "yaw": 9.88180923461914
                    }
                },
                "velocity": {
                    "x": 6.555271625518799,
                    "y": 1.1514402627944946,
                    "z": 0.045855939388275146
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.7142014503479,
                "transform": {
                    "location": {
                        "x": 2864.11865234375,
                        "y": 4248.34033203125,
                        "z": 360.2654113769531
                    },
                    "rotation": {
                        "roll": 0.007059060037136078,
                        "pitch": 0.29205888509750366,
                        "yaw": 9.688895225524902
                    }
                },
                "velocity": {
                    "x": 5.633031368255615,
                    "y": 0.9588754177093506,
                    "z": 0.040150441229343414
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.1037702560424805,
                "transform": {
                    "location": {
                        "x": 2955.744384765625,
                        "y": 4259.7265625,
                        "z": 360.91949462890625
                    },
                    "rotation": {
                        "roll": -0.0017700233729556203,
                        "pitch": -0.4872110188007355,
                        "yaw": -170.80555725097656
                    }
                },
                "velocity": {
                    "x": -7.012479782104492,
                    "y": -1.133830189704895,
                    "z": -0.055767178535461426
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.057772636413574,
                "transform": {
                    "location": {
                        "x": 2902.6376953125,
                        "y": 4257.9228515625,
                        "z": 360.5431823730469
                    },
                    "rotation": {
                        "roll": -0.0006408688495866954,
                        "pitch": 0.3926265835762024,
                        "yaw": 9.196817398071289
                    }
                },
                "velocity": {
                    "x": 7.954287528991699,
                    "y": 1.285979986190796,
                    "z": 0.05712169408798218
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077801704406738,
                "transform": {
                    "location": {
                        "x": 2906.61962890625,
                        "y": 4255.27490234375,
                        "z": 360.5587158203125
                    },
                    "rotation": {
                        "roll": 0.0006755715585313737,
                        "pitch": 0.4003719985485077,
                        "yaw": 9.198572158813477
                    }
                },
                "velocity": {
                    "x": 7.973751068115234,
                    "y": 1.2910878658294678,
                    "z": 0.05713382735848427
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.9363603591918945,
                "transform": {
                    "location": {
                        "x": 2938.451904296875,
                        "y": 4256.9296875,
                        "z": 360.7801818847656
                    },
                    "rotation": {
                        "roll": 0.0013308987254276872,
                        "pitch": -0.35669293999671936,
                        "yaw": -170.87806701660156
                    }
                },
                "velocity": {
                    "x": -6.847347736358643,
                    "y": -1.106493592262268,
                    "z": -0.05100347101688385
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006834030151367,
                "transform": {
                    "location": {
                        "x": 2945.282470703125,
                        "y": 4264.82275390625,
                        "z": 360.88507080078125
                    },
                    "rotation": {
                        "roll": -0.0009765612776391208,
                        "pitch": 0.4319821298122406,
                        "yaw": 9.194527626037598
                    }
                },
                "velocity": {
                    "x": 7.903744220733643,
                    "y": 1.2793221473693848,
                    "z": 0.059667978435754776
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044621467590332,
                "transform": {
                    "location": {
                        "x": 2948.204833984375,
                        "y": 4262.00244140625,
                        "z": 360.8683776855469
                    },
                    "rotation": {
                        "roll": 0.00032917287899181247,
                        "pitch": 0.4420088231563568,
                        "yaw": 9.176409721374512
                    }
                },
                "velocity": {
                    "x": 7.941044330596924,
                    "y": 1.285320520401001,
                    "z": 0.06078583747148514
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000330924987793,
                "transform": {
                    "location": {
                        "x": 2986.08251953125,
                        "y": 4271.423828125,
                        "z": 361.1916198730469
                    },
                    "rotation": {
                        "roll": 0.0017970267217606306,
                        "pitch": 0.5297904014587402,
                        "yaw": 9.193998336791992
                    }
                },
                "velocity": {
                    "x": 7.897456645965576,
                    "y": 1.2768034934997559,
                    "z": 0.07250510901212692
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0001859664917,
                "transform": {
                    "location": {
                        "x": 2989.662841796875,
                        "y": 4268.71337890625,
                        "z": 361.22021484375
                    },
                    "rotation": {
                        "roll": 0.0012048459611833096,
                        "pitch": 0.5291005969047546,
                        "yaw": 9.17950439453125
                    }
                },
                "velocity": {
                    "x": 7.897132873535156,
                    "y": 1.2778632640838623,
                    "z": 0.07310378551483154
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.221273422241211,
                "transform": {
                    "location": {
                        "x": 2899.22265625,
                        "y": 4250.5771484375,
                        "z": 360.500732421875
                    },
                    "rotation": {
                        "roll": 0.001364119234494865,
                        "pitch": -0.3525948226451874,
                        "yaw": -170.734375
                    }
                },
                "velocity": {
                    "x": -9.102191925048828,
                    "y": -1.4758169651031494,
                    "z": -0.06273248791694641
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4848497211933136,
                "transform": {
                    "location": {
                        "x": 2954.83544921875,
                        "y": 4256.2900390625,
                        "z": 360.9079284667969
                    },
                    "rotation": {
                        "roll": -0.0008544976590201259,
                        "pitch": -0.4830036163330078,
                        "yaw": -170.7833709716797
                    }
                },
                "velocity": {
                    "x": -0.4786166548728943,
                    "y": -0.07742633670568466,
                    "z": -0.003243455896154046
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.475072860717773,
                "transform": {
                    "location": {
                        "x": 2878.98876953125,
                        "y": 4247.30810546875,
                        "z": 360.3614807128906
                    },
                    "rotation": {
                        "roll": 0.0005919109680689871,
                        "pitch": -0.37087926268577576,
                        "yaw": -170.75845336914062
                    }
                },
                "velocity": {
                    "x": -6.391480445861816,
                    "y": -1.0361517667770386,
                    "z": -0.044035233557224274
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0036677152384072542,
                "transform": {
                    "location": {
                        "x": 2942.489990234375,
                        "y": 4254.29541015625,
                        "z": 360.8247985839844
                    },
                    "rotation": {
                        "roll": -0.0033874467480927706,
                        "pitch": -0.7711760997772217,
                        "yaw": -170.65953063964844
                    }
                },
                "velocity": {
                    "x": 0.003572440706193447,
                    "y": 0.00029115902725607157,
                    "z": -0.0007778351427987218
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.904166579246521,
                "transform": {
                    "location": {
                        "x": 2892.083740234375,
                        "y": 4246.17138671875,
                        "z": 360.46246337890625
                    },
                    "rotation": {
                        "roll": 0.0010172546608373523,
                        "pitch": -0.7627272009849548,
                        "yaw": -170.43807983398438
                    }
                },
                "velocity": {
                    "x": -0.8924046754837036,
                    "y": -0.14521156251430511,
                    "z": -0.0066878413781523705
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.574676036834717,
                "transform": {
                    "location": {
                        "x": 2879.03955078125,
                        "y": 4244.09423828125,
                        "z": 360.3600769042969
                    },
                    "rotation": {
                        "roll": -0.0024719214998185635,
                        "pitch": -0.377135694026947,
                        "yaw": -170.29971313476562
                    }
                },
                "velocity": {
                    "x": -4.507976055145264,
                    "y": -0.7777222990989685,
                    "z": -0.03100484237074852
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26777133345603943,
        "expert_target_speed": 6.098679347766844,
        "target_point": [
            35.00735181270429,
            3.9682632187149576
        ],
        "target_point_next": [
            77.0032179619535,
            4.557153326002641
        ]
    },
    "510": {
        "acceleration": [
            -3.0583667755126953,
            -0.3094947338104248,
            0.08316919207572937
        ],
        "angular_velocity": [
            0.0005753433797508478,
            0.46100300550460815,
            -0.6475249528884888
        ],
        "forward_vector": [
            -0.9896137714385986,
            -0.14360526204109192,
            -0.0064969793893396854
        ],
        "right_vector": [
            0.14361152052879333,
            -0.9896340370178223,
            -0.0005045491852797568
        ],
        "location": [
            2923.045166015625,
            4254.7900390625,
            360.6736755371094
        ],
        "rotation": [
            0.028909150511026382,
            -0.37225210666656494,
            -171.74330139160156
        ],
        "velocity": [
            -5.151841163635254,
            -0.7330307364463806,
            -0.03710554912686348
        ],
        "speed": 5.203729569827949,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 26.621126174926758,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2896.825439453125,
                4250.1884765625,
                360.4841613769531
            ],
            "velocity": [
                -9.961227416992188,
                -1.6066612005233765,
                -0.06875085085630417
            ],
            "speed_kmh": 36.32472044701151,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.459805965423584,
                "transform": {
                    "location": {
                        "x": 2862.98828125,
                        "y": 4251.4541015625,
                        "z": 360.2514343261719
                    },
                    "rotation": {
                        "roll": 0.0064501287415623665,
                        "pitch": 0.3650667667388916,
                        "yaw": 9.713936805725098
                    }
                },
                "velocity": {
                    "x": 5.383606910705566,
                    "y": 0.908105731010437,
                    "z": 0.0400521457195282
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.923010349273682,
                "transform": {
                    "location": {
                        "x": 2865.52734375,
                        "y": 4248.57958984375,
                        "z": 360.27587890625
                    },
                    "rotation": {
                        "roll": 0.005122073460370302,
                        "pitch": 0.4062322974205017,
                        "yaw": 9.637960433959961
                    }
                },
                "velocity": {
                    "x": 5.839537620544434,
                    "y": 0.9899911880493164,
                    "z": 0.04203982278704643
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.825544834136963,
                "transform": {
                    "location": {
                        "x": 2954.061767578125,
                        "y": 4259.4541015625,
                        "z": 360.9059143066406
                    },
                    "rotation": {
                        "roll": -0.0009460489964112639,
                        "pitch": -0.4647192060947418,
                        "yaw": -170.8115692138672
                    }
                },
                "velocity": {
                    "x": -6.737765789031982,
                    "y": -1.0898672342300415,
                    "z": -0.052591025829315186
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994932174682617,
                "transform": {
                    "location": {
                        "x": 2904.6181640625,
                        "y": 4258.24365234375,
                        "z": 360.55706787109375
                    },
                    "rotation": {
                        "roll": 0.0005814904579892755,
                        "pitch": 0.39694324135780334,
                        "yaw": 9.18862247467041
                    }
                },
                "velocity": {
                    "x": 7.892188549041748,
                    "y": 1.276380181312561,
                    "z": 0.05612264573574066
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.047593116760254,
                "transform": {
                    "location": {
                        "x": 2908.609375,
                        "y": 4255.59716796875,
                        "z": 360.57275390625
                    },
                    "rotation": {
                        "roll": -6.103296982473694e-05,
                        "pitch": 0.4016287624835968,
                        "yaw": 9.194984436035156
                    }
                },
                "velocity": {
                    "x": 7.944031715393066,
                    "y": 1.2856959104537964,
                    "z": 0.05570027232170105
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.004665851593018,
                "transform": {
                    "location": {
                        "x": 2936.877197265625,
                        "y": 4256.67529296875,
                        "z": 360.7691650390625
                    },
                    "rotation": {
                        "roll": -0.00024414376821368933,
                        "pitch": -0.45965805649757385,
                        "yaw": -170.82432556152344
                    }
                },
                "velocity": {
                    "x": -5.927270889282227,
                    "y": -0.9599089622497559,
                    "z": -0.045204274356365204
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041308403015137,
                "transform": {
                    "location": {
                        "x": 2947.2626953125,
                        "y": 4265.14306640625,
                        "z": 360.9002685546875
                    },
                    "rotation": {
                        "roll": 0.000403129612095654,
                        "pitch": 0.4372072219848633,
                        "yaw": 9.189411163330078
                    }
                },
                "velocity": {
                    "x": 7.937882423400879,
                    "y": 1.2840931415557861,
                    "z": 0.06130446121096611
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045787811279297,
                "transform": {
                    "location": {
                        "x": 2950.190185546875,
                        "y": 4262.32373046875,
                        "z": 360.8837890625
                    },
                    "rotation": {
                        "roll": 0.0016443113563582301,
                        "pitch": 0.4471656382083893,
                        "yaw": 9.210963249206543
                    }
                },
                "velocity": {
                    "x": 7.942233085632324,
                    "y": 1.285254955291748,
                    "z": 0.0612611286342144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000739097595215,
                "transform": {
                    "location": {
                        "x": 2988.056884765625,
                        "y": 4271.7421875,
                        "z": 361.2100830078125
                    },
                    "rotation": {
                        "roll": 0.001212059985846281,
                        "pitch": 0.5292918086051941,
                        "yaw": 9.17149829864502
                    }
                },
                "velocity": {
                    "x": 7.897875785827637,
                    "y": 1.2767760753631592,
                    "z": 0.0723409429192543
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000592231750488,
                "transform": {
                    "location": {
                        "x": 2991.63720703125,
                        "y": 4269.033203125,
                        "z": 361.2386779785156
                    },
                    "rotation": {
                        "roll": -0.0004577721992973238,
                        "pitch": 0.5287659168243408,
                        "yaw": 9.198884010314941
                    }
                },
                "velocity": {
                    "x": 7.89761209487915,
                    "y": 1.2774238586425781,
                    "z": 0.07338390499353409
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.090200424194336,
                "transform": {
                    "location": {
                        "x": 2896.825439453125,
                        "y": 4250.1884765625,
                        "z": 360.4841613769531
                    },
                    "rotation": {
                        "roll": 0.002209982369095087,
                        "pitch": -0.356344610452652,
                        "yaw": -170.87179565429688
                    }
                },
                "velocity": {
                    "x": -9.961227416992188,
                    "y": -1.6066612005233765,
                    "z": -0.06875085085630417
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2974481582641602,
                "transform": {
                    "location": {
                        "x": 2954.60986328125,
                        "y": 4256.25341796875,
                        "z": 360.90582275390625
                    },
                    "rotation": {
                        "roll": -0.001342771458439529,
                        "pitch": -0.43719354271888733,
                        "yaw": -170.7625274658203
                    }
                },
                "velocity": {
                    "x": -1.2805039882659912,
                    "y": -0.20875422656536102,
                    "z": -0.010143660940229893
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.369929313659668,
                "transform": {
                    "location": {
                        "x": 2877.380126953125,
                        "y": 4247.04736328125,
                        "z": 360.3504638671875
                    },
                    "rotation": {
                        "roll": 0.00033409675233997405,
                        "pitch": -0.3922782242298126,
                        "yaw": -170.78041076660156
                    }
                },
                "velocity": {
                    "x": -6.287751197814941,
                    "y": -1.0189093351364136,
                    "z": -0.044787969440221786
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0018952949903905392,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.82177734375
                    },
                    "rotation": {
                        "roll": -0.0020141592249274254,
                        "pitch": -0.40649184584617615,
                        "yaw": -170.6596221923828
                    }
                },
                "velocity": {
                    "x": 0.00144202820956707,
                    "y": 0.00024936566478572786,
                    "z": -0.0012043730821460485
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2716784477233887,
                "transform": {
                    "location": {
                        "x": 2891.690185546875,
                        "y": 4246.10693359375,
                        "z": 360.4549865722656
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": -0.1766013652086258,
                        "yaw": -170.44198608398438
                    }
                },
                "velocity": {
                    "x": -2.241025924682617,
                    "y": -0.37163546681404114,
                    "z": -0.014570102095603943
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.203907012939453,
                "transform": {
                    "location": {
                        "x": 2877.814208984375,
                        "y": 4243.8828125,
                        "z": 360.35174560546875
                    },
                    "rotation": {
                        "roll": -0.0032653785310685635,
                        "pitch": -0.37869298458099365,
                        "yaw": -170.2482452392578
                    }
                },
                "velocity": {
                    "x": -5.127927780151367,
                    "y": -0.8853479027748108,
                    "z": -0.03413501754403114
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.29889053106307983,
        "expert_target_speed": 6.261729005946922,
        "target_point": [
            33.72383406084081,
            4.049527747806489
        ],
        "target_point_next": [
            75.71823711974541,
            4.7348575300133025
        ]
    },
    "515": {
        "acceleration": [
            0.924224853515625,
            0.20344138145446777,
            0.0016070902347564697
        ],
        "angular_velocity": [
            0.003307842882350087,
            -0.04915885999798775,
            -0.8668331503868103
        ],
        "forward_vector": [
            -0.9901204109191895,
            -0.1400470733642578,
            -0.006953540723770857
        ],
        "right_vector": [
            0.14005491137504578,
            -0.9901434779167175,
            -0.0006504320772364736
        ],
        "location": [
            2921.7783203125,
            4254.6123046875,
            360.66455078125
        ],
        "rotation": [
            0.03726791590452194,
            -0.39841175079345703,
            -171.94923400878906
        ],
        "velocity": [
            -5.085165500640869,
            -0.7002737522125244,
            -0.03724394738674164
        ],
        "speed": 5.133156095127627,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.850013732910156,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2894.349853515625,
                4249.7890625,
                360.467529296875
            ],
            "velocity": [
                -9.557230949401855,
                -1.5398943424224854,
                -0.0671619176864624
            ],
            "speed_kmh": 34.85061226909292,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.899295330047607,
                "transform": {
                    "location": {
                        "x": 2864.37158203125,
                        "y": 4251.6875,
                        "z": 360.26123046875
                    },
                    "rotation": {
                        "roll": 0.004780038725584745,
                        "pitch": 0.4232941269874573,
                        "yaw": 9.618722915649414
                    }
                },
                "velocity": {
                    "x": 5.8173747062683105,
                    "y": 0.9788059592247009,
                    "z": 0.04212420433759689
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.573355674743652,
                "transform": {
                    "location": {
                        "x": 2867.122802734375,
                        "y": 4248.84912109375,
                        "z": 360.2878112792969
                    },
                    "rotation": {
                        "roll": 0.010257829912006855,
                        "pitch": 0.6335887908935547,
                        "yaw": 9.599221229553223
                    }
                },
                "velocity": {
                    "x": 7.469056129455566,
                    "y": 1.2514004707336426,
                    "z": 0.05399305373430252
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.844824314117432,
                "transform": {
                    "location": {
                        "x": 2952.265869140625,
                        "y": 4259.1640625,
                        "z": 360.8913879394531
                    },
                    "rotation": {
                        "roll": 0.0015102201141417027,
                        "pitch": -0.4244416058063507,
                        "yaw": -170.81024169921875
                    }
                },
                "velocity": {
                    "x": -7.743938446044922,
                    "y": -1.2525615692138672,
                    "z": -0.06146892532706261
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.057207107543945,
                "transform": {
                    "location": {
                        "x": 2906.598876953125,
                        "y": 4258.56396484375,
                        "z": 360.571044921875
                    },
                    "rotation": {
                        "roll": 0.0006861502188257873,
                        "pitch": 0.3963695168495178,
                        "yaw": 9.187817573547363
                    }
                },
                "velocity": {
                    "x": 7.953644752502441,
                    "y": 1.2864162921905518,
                    "z": 0.056995972990989685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077022552490234,
                "transform": {
                    "location": {
                        "x": 2910.598876953125,
                        "y": 4255.91845703125,
                        "z": 360.5869140625
                    },
                    "rotation": {
                        "roll": -0.0003051749663427472,
                        "pitch": 0.40440863370895386,
                        "yaw": 9.189961433410645
                    }
                },
                "velocity": {
                    "x": 7.973150253295898,
                    "y": 1.2899394035339355,
                    "z": 0.056740786880254745
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.278421878814697,
                "transform": {
                    "location": {
                        "x": 2935.383056640625,
                        "y": 4256.43359375,
                        "z": 360.7576904296875
                    },
                    "rotation": {
                        "roll": -3.0519873689627275e-05,
                        "pitch": -0.41473588347435,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": -6.197573184967041,
                    "y": -1.0033310651779175,
                    "z": -0.04464993253350258
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006993293762207,
                "transform": {
                    "location": {
                        "x": 2949.2431640625,
                        "y": 4265.46337890625,
                        "z": 360.91552734375
                    },
                    "rotation": {
                        "roll": -0.0002136199182132259,
                        "pitch": 0.44459065794944763,
                        "yaw": 9.190506935119629
                    }
                },
                "velocity": {
                    "x": 7.903757095336914,
                    "y": 1.2801636457443237,
                    "z": 0.06118452921509743
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044986724853516,
                "transform": {
                    "location": {
                        "x": 2952.17578125,
                        "y": 4262.64501953125,
                        "z": 360.89935302734375
                    },
                    "rotation": {
                        "roll": 0.0003323982818983495,
                        "pitch": 0.44908490777015686,
                        "yaw": 9.17782211303711
                    }
                },
                "velocity": {
                    "x": 7.9415812492370605,
                    "y": 1.2842118740081787,
                    "z": 0.06245948746800423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001070976257324,
                "transform": {
                    "location": {
                        "x": 2990.03125,
                        "y": 4272.06103515625,
                        "z": 361.22845458984375
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": 0.5289981365203857,
                        "yaw": 9.195891380310059
                    }
                },
                "velocity": {
                    "x": 7.898166179656982,
                    "y": 1.27702796459198,
                    "z": 0.07291507720947266
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2993.702392578125,
                        "y": 4269.30419921875,
                        "z": 361.2623291015625
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.68072509765625,
                "transform": {
                    "location": {
                        "x": 2894.349853515625,
                        "y": 4249.7890625,
                        "z": 360.467529296875
                    },
                    "rotation": {
                        "roll": 0.0009909578366205096,
                        "pitch": -0.3950513005256653,
                        "yaw": -170.8842315673828
                    }
                },
                "velocity": {
                    "x": -9.557230949401855,
                    "y": -1.5398943424224854,
                    "z": -0.0671619176864624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.078716516494751,
                "transform": {
                    "location": {
                        "x": 2954.18798828125,
                        "y": 4256.18505859375,
                        "z": 360.9023742675781
                    },
                    "rotation": {
                        "roll": -0.00018310622544959188,
                        "pitch": -0.4295642375946045,
                        "yaw": -170.79275512695312
                    }
                },
                "velocity": {
                    "x": -2.0518715381622314,
                    "y": -0.332610160112381,
                    "z": -0.015997275710105896
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.683997631072998,
                "transform": {
                    "location": {
                        "x": 2875.902099609375,
                        "y": 4246.8076171875,
                        "z": 360.34033203125
                    },
                    "rotation": {
                        "roll": 0.00023001799127086997,
                        "pitch": -0.4155213534832001,
                        "yaw": -170.8236083984375
                    }
                },
                "velocity": {
                    "x": -5.610881328582764,
                    "y": -0.9078584909439087,
                    "z": -0.04042041674256325
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0019512140424922109,
                "transform": {
                    "location": {
                        "x": 2942.48681640625,
                        "y": 4254.294921875,
                        "z": 360.8216247558594
                    },
                    "rotation": {
                        "roll": -0.002960206475108862,
                        "pitch": -0.3848196566104889,
                        "yaw": -170.65963745117188
                    }
                },
                "velocity": {
                    "x": -0.000458846683613956,
                    "y": -7.943609671201557e-05,
                    "z": -0.0018948314245790243
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.018674999475479126,
                "transform": {
                    "location": {
                        "x": 2891.222412109375,
                        "y": 4246.02880859375,
                        "z": 360.4545593261719
                    },
                    "rotation": {
                        "roll": -0.005645752418786287,
                        "pitch": -0.5114104151725769,
                        "yaw": -170.43832397460938
                    }
                },
                "velocity": {
                    "x": -0.01850009895861149,
                    "y": -0.002478668699041009,
                    "z": -0.0005984616000205278
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.956296920776367,
                "transform": {
                    "location": {
                        "x": 2876.4541015625,
                        "y": 4243.65087890625,
                        "z": 360.3422546386719
                    },
                    "rotation": {
                        "roll": -0.0002441445831209421,
                        "pitch": -0.3796696960926056,
                        "yaw": -170.31484985351562
                    }
                },
                "velocity": {
                    "x": -5.873533725738525,
                    "y": -0.988612174987793,
                    "z": -0.04149471968412399
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.32549652457237244,
        "expert_target_speed": 6.197033114589471,
        "target_point": [
            32.429806717223904,
            4.1721734527936984
        ],
        "target_point_next": [
            74.42147475705897,
            5.008463125340711
        ]
    },
    "520": {
        "acceleration": [
            1.8389511108398438,
            0.1900959014892578,
            0.007091984152793884
        ],
        "angular_velocity": [
            0.05245472118258476,
            -0.4827229082584381,
            0.8564232587814331
        ],
        "forward_vector": [
            -0.9898970723152161,
            -0.14158299565315247,
            -0.0076176379807293415
        ],
        "right_vector": [
            0.1415853202342987,
            -0.9899260401725769,
            0.0002380796504439786
        ],
        "location": [
            2920.525146484375,
            4254.43310546875,
            360.65570068359375
        ],
        "rotation": [
            -0.01364135555922985,
            -0.43646273016929626,
            -171.8603057861328
        ],
        "velocity": [
            -4.924346446990967,
            -0.7200740575790405,
            -0.0363265760242939
        ],
        "speed": 4.976715239833489,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.855716705322266,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2892.107421875,
                4249.4287109375,
                360.45233154296875
            ],
            "velocity": [
                -8.0267915725708,
                -1.292307734489441,
                -0.05557789281010628
            ],
            "speed_kmh": 29.26924671860213,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.717717170715332,
                "transform": {
                    "location": {
                        "x": 2865.982421875,
                        "y": 4251.958984375,
                        "z": 360.2723083496094
                    },
                    "rotation": {
                        "roll": 0.004983427003026009,
                        "pitch": 0.5181859135627747,
                        "yaw": 9.570140838623047
                    }
                },
                "velocity": {
                    "x": 7.610607147216797,
                    "y": 1.2801650762557983,
                    "z": 0.05472710356116295
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.284184455871582,
                "transform": {
                    "location": {
                        "x": 2869.135009765625,
                        "y": 4249.18408203125,
                        "z": 360.3022155761719
                    },
                    "rotation": {
                        "roll": 0.010373487137258053,
                        "pitch": 0.5534023642539978,
                        "yaw": 9.433333396911621
                    }
                },
                "velocity": {
                    "x": 8.172235488891602,
                    "y": 1.3559463024139404,
                    "z": 0.06070666015148163
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.062012672424316,
                "transform": {
                    "location": {
                        "x": 2950.28515625,
                        "y": 4258.84375,
                        "z": 360.87591552734375
                    },
                    "rotation": {
                        "roll": 0.0016274391673505306,
                        "pitch": -0.43374431133270264,
                        "yaw": -170.81185913085938
                    }
                },
                "velocity": {
                    "x": -7.958343505859375,
                    "y": -1.2872886657714844,
                    "z": -0.060972582548856735
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996762275695801,
                "transform": {
                    "location": {
                        "x": 2908.579833984375,
                        "y": 4258.88427734375,
                        "z": 360.5851135253906
                    },
                    "rotation": {
                        "roll": 0.00032226397888734937,
                        "pitch": 0.39847320318222046,
                        "yaw": 9.187775611877441
                    }
                },
                "velocity": {
                    "x": 7.8939666748046875,
                    "y": 1.276826024055481,
                    "z": 0.05665779113769531
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045554161071777,
                "transform": {
                    "location": {
                        "x": 2912.58837890625,
                        "y": 4256.23974609375,
                        "z": 360.60107421875
                    },
                    "rotation": {
                        "roll": -0.00045776739716529846,
                        "pitch": 0.4039578437805176,
                        "yaw": 9.187312126159668
                    }
                },
                "velocity": {
                    "x": 7.942180156707764,
                    "y": 1.2843079566955566,
                    "z": 0.05722903087735176
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.100802898406982,
                "transform": {
                    "location": {
                        "x": 2933.94140625,
                        "y": 4256.20068359375,
                        "z": 360.7478332519531
                    },
                    "rotation": {
                        "roll": -6.103403211454861e-05,
                        "pitch": -0.5248726606369019,
                        "yaw": -170.807373046875
                    }
                },
                "velocity": {
                    "x": -4.048032283782959,
                    "y": -0.6550415754318237,
                    "z": -0.030648253858089447
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042459487915039,
                "transform": {
                    "location": {
                        "x": 2951.2236328125,
                        "y": 4265.78369140625,
                        "z": 360.93109130859375
                    },
                    "rotation": {
                        "roll": -0.00012206330575281754,
                        "pitch": 0.44636648893356323,
                        "yaw": 9.192266464233398
                    }
                },
                "velocity": {
                    "x": 7.938943386077881,
                    "y": 1.2847000360488892,
                    "z": 0.06232265383005142
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045305252075195,
                "transform": {
                    "location": {
                        "x": 2954.1611328125,
                        "y": 4262.96630859375,
                        "z": 360.9151611328125
                    },
                    "rotation": {
                        "roll": -0.0002746537793427706,
                        "pitch": 0.4592618942260742,
                        "yaw": 9.209855079650879
                    }
                },
                "velocity": {
                    "x": 7.941771030426025,
                    "y": 1.2849727869033813,
                    "z": 0.06371894478797913
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2992.09375,
                        "y": 4272.34912109375,
                        "z": 361.25103759765625
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2995.763916015625,
                        "y": 4269.5986328125,
                        "z": 361.28424072265625
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.130346298217773,
                "transform": {
                    "location": {
                        "x": 2892.107421875,
                        "y": 4249.4287109375,
                        "z": 360.45233154296875
                    },
                    "rotation": {
                        "roll": -0.0006103485939092934,
                        "pitch": -0.429810106754303,
                        "yaw": -170.80517578125
                    }
                },
                "velocity": {
                    "x": -8.0267915725708,
                    "y": -1.292307734489441,
                    "z": -0.05557789281010628
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.33488452434539795,
                "transform": {
                    "location": {
                        "x": 2953.73388671875,
                        "y": 4256.11181640625,
                        "z": 360.8991394042969
                    },
                    "rotation": {
                        "roll": -0.0007629423635080457,
                        "pitch": -0.4698760211467743,
                        "yaw": -170.7664337158203
                    }
                },
                "velocity": {
                    "x": -0.3306584060192108,
                    "y": -0.05293237045407295,
                    "z": -0.0032888315618038177
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.211367607116699,
                "transform": {
                    "location": {
                        "x": 2874.56982421875,
                        "y": 4246.59228515625,
                        "z": 360.3309631347656
                    },
                    "rotation": {
                        "roll": 2.9522656404878944e-05,
                        "pitch": -0.4127824604511261,
                        "yaw": -170.79965209960938
                    }
                },
                "velocity": {
                    "x": -5.144197940826416,
                    "y": -0.8331990838050842,
                    "z": -0.03684056177735329
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006297578220255673,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8218688964844
                    },
                    "rotation": {
                        "roll": -0.0025634763296693563,
                        "pitch": -0.41644343733787537,
                        "yaw": -170.65965270996094
                    }
                },
                "velocity": {
                    "x": -0.0002875508216675371,
                    "y": -7.27283040760085e-05,
                    "z": -0.0005555357784032822
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2329238653182983,
                "transform": {
                    "location": {
                        "x": 2891.062744140625,
                        "y": 4246.0029296875,
                        "z": 360.4533996582031
                    },
                    "rotation": {
                        "roll": -0.0020751943811774254,
                        "pitch": -0.5165740251541138,
                        "yaw": -170.45372009277344
                    }
                },
                "velocity": {
                    "x": -1.2162384986877441,
                    "y": -0.2020072489976883,
                    "z": -0.007625093217939138
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.113684177398682,
                "transform": {
                    "location": {
                        "x": 2874.928955078125,
                        "y": 4243.39404296875,
                        "z": 360.33160400390625
                    },
                    "rotation": {
                        "roll": -0.002014158060774207,
                        "pitch": -0.38769516348838806,
                        "yaw": -170.4344482421875
                    }
                },
                "velocity": {
                    "x": -6.029698371887207,
                    "y": -1.0089925527572632,
                    "z": -0.04251280799508095
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.332002192735672,
        "expert_target_speed": 6.053226852270012,
        "target_point": [
            31.170321899165675,
            4.121872825065992
        ],
        "target_point_next": [
            73.16323736824079,
            4.892986040636787
        ]
    },
    "525": {
        "acceleration": [
            -5.495672225952148,
            -0.9992706775665283,
            -0.028683915734291077
        ],
        "angular_velocity": [
            -0.26690706610679626,
            1.1140869855880737,
            1.1252590417861938
        ],
        "forward_vector": [
            -0.9892910122871399,
            -0.1457916647195816,
            -0.00692850723862648
        ],
        "right_vector": [
            0.1457916796207428,
            -0.9893152117729187,
            0.0005070535116828978
        ],
        "location": [
            2919.263916015625,
            4254.24560546875,
            360.6463623046875
        ],
        "rotation": [
            -0.029052725061774254,
            -0.39697739481925964,
            -171.61666870117188
        ],
        "velocity": [
            -5.204216957092285,
            -0.7928551435470581,
            -0.0378539077937603
        ],
        "speed": 5.264265705218147,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.21935272216797,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2890.4892578125,
                4249.17138671875,
                360.4416198730469
            ],
            "velocity": [
                -5.817442417144775,
                -0.9402960538864136,
                -0.040725067257881165
            ],
            "speed_kmh": 21.21510620147851,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.369824409484863,
                "transform": {
                    "location": {
                        "x": 2868.026611328125,
                        "y": 4252.29931640625,
                        "z": 360.2873229980469
                    },
                    "rotation": {
                        "roll": 0.0038464146200567484,
                        "pitch": 0.4729427695274353,
                        "yaw": 9.45544147491455
                    }
                },
                "velocity": {
                    "x": 8.257880210876465,
                    "y": 1.3629648685455322,
                    "z": 0.06075464189052582
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.903065204620361,
                "transform": {
                    "location": {
                        "x": 2871.123779296875,
                        "y": 4249.513671875,
                        "z": 360.3163146972656
                    },
                    "rotation": {
                        "roll": 0.005298827774822712,
                        "pitch": 0.3993748128414154,
                        "yaw": 9.406656265258789
                    }
                },
                "velocity": {
                    "x": 7.796985149383545,
                    "y": 1.2893022298812866,
                    "z": 0.05624521151185036
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.134237289428711,
                "transform": {
                    "location": {
                        "x": 2948.39794921875,
                        "y": 4258.53857421875,
                        "z": 360.86163330078125
                    },
                    "rotation": {
                        "roll": 0.0011820195941254497,
                        "pitch": -0.4518374800682068,
                        "yaw": -170.8120574951172
                    }
                },
                "velocity": {
                    "x": -7.042490005493164,
                    "y": -1.139150619506836,
                    "z": -0.05485823005437851
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055697441101074,
                "transform": {
                    "location": {
                        "x": 2910.560791015625,
                        "y": 4259.2041015625,
                        "z": 360.59918212890625
                    },
                    "rotation": {
                        "roll": -0.001464841072447598,
                        "pitch": 0.4007818102836609,
                        "yaw": 9.185677528381348
                    }
                },
                "velocity": {
                    "x": 7.9524827003479,
                    "y": 1.2841672897338867,
                    "z": 0.056523434817790985
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07871150970459,
                "transform": {
                    "location": {
                        "x": 2914.578369140625,
                        "y": 4256.56103515625,
                        "z": 360.6153564453125
                    },
                    "rotation": {
                        "roll": 0.00032844761153683066,
                        "pitch": 0.40539219975471497,
                        "yaw": 9.185992240905762
                    }
                },
                "velocity": {
                    "x": 7.974905014038086,
                    "y": 1.2896703481674194,
                    "z": 0.05673776566982269
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010143808322027326,
                "transform": {
                    "location": {
                        "x": 2933.62939453125,
                        "y": 4256.150390625,
                        "z": 360.74627685546875
                    },
                    "rotation": {
                        "roll": 0.0014257492730394006,
                        "pitch": -0.6699185967445374,
                        "yaw": -170.7724609375
                    }
                },
                "velocity": {
                    "x": 0.0005667600780725479,
                    "y": 2.9705994165851735e-05,
                    "z": -0.000840755004901439
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.005117416381836,
                "transform": {
                    "location": {
                        "x": 2953.20361328125,
                        "y": 4266.1044921875,
                        "z": 360.9467468261719
                    },
                    "rotation": {
                        "roll": 0.0004652846837416291,
                        "pitch": 0.4561541676521301,
                        "yaw": 9.192523956298828
                    }
                },
                "velocity": {
                    "x": 7.9020609855651855,
                    "y": 1.2787628173828125,
                    "z": 0.06411807984113693
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044441223144531,
                "transform": {
                    "location": {
                        "x": 2956.146728515625,
                        "y": 4263.28759765625,
                        "z": 360.93115234375
                    },
                    "rotation": {
                        "roll": 0.0007105426047928631,
                        "pitch": 0.45990392565727234,
                        "yaw": 9.174312591552734
                    }
                },
                "velocity": {
                    "x": 7.941074848175049,
                    "y": 1.283837914466858,
                    "z": 0.06418052315711975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4710,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2994.15625,
                        "y": 4272.63671875,
                        "z": 361.2737121582031
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4709,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2997.8203125,
                        "y": 4269.9306640625,
                        "z": 361.3034973144531
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.89308500289917,
                "transform": {
                    "location": {
                        "x": 2890.4892578125,
                        "y": 4249.17138671875,
                        "z": 360.4416198730469
                    },
                    "rotation": {
                        "roll": -0.004425053484737873,
                        "pitch": -0.463838130235672,
                        "yaw": -170.48919677734375
                    }
                },
                "velocity": {
                    "x": -5.817442417144775,
                    "y": -0.9402960538864136,
                    "z": -0.040725067257881165
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6102809309959412,
                "transform": {
                    "location": {
                        "x": 2953.662353515625,
                        "y": 4256.10009765625,
                        "z": 360.8984375
                    },
                    "rotation": {
                        "roll": -0.0010375977726653218,
                        "pitch": -0.4550476670265198,
                        "yaw": -170.7782745361328
                    }
                },
                "velocity": {
                    "x": -0.6023522615432739,
                    "y": -0.09797117859125137,
                    "z": -0.004029559902846813
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.27163553237915,
                "transform": {
                    "location": {
                        "x": 2873.294677734375,
                        "y": 4246.3857421875,
                        "z": 360.32177734375
                    },
                    "rotation": {
                        "roll": 0.00019292757497169077,
                        "pitch": -0.40185415744781494,
                        "yaw": -170.831298828125
                    }
                },
                "velocity": {
                    "x": -5.20396614074707,
                    "y": -0.8411354422569275,
                    "z": -0.037011727690696716
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001309941872023046,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0023193347733467817,
                        "pitch": -0.43084830045700073,
                        "yaw": -170.65965270996094
                    }
                },
                "velocity": {
                    "x": -1.40907613968011e-05,
                    "y": -1.4967983588576317e-05,
                    "z": -0.00012937112478539348
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.311713218688965,
                "transform": {
                    "location": {
                        "x": 2890.63623046875,
                        "y": 4245.93212890625,
                        "z": 360.44732666015625
                    },
                    "rotation": {
                        "roll": -0.00042724626837298274,
                        "pitch": -0.12133830040693283,
                        "yaw": -170.43679809570312
                    }
                },
                "velocity": {
                    "x": -2.280472755432129,
                    "y": -0.37846213579177856,
                    "z": -0.015109233558177948
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.575915336608887,
                "transform": {
                    "location": {
                        "x": 2873.493896484375,
                        "y": 4243.15380859375,
                        "z": 360.3216247558594
                    },
                    "rotation": {
                        "roll": -0.0023193396627902985,
                        "pitch": -0.41372501850128174,
                        "yaw": -170.4981689453125
                    }
                },
                "velocity": {
                    "x": -5.499693393707275,
                    "y": -0.9179012179374695,
                    "z": -0.0407927930355072
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3481540083885193,
        "expert_target_speed": 6.31596293740226,
        "target_point": [
            29.9124774486729,
            3.9876708302753654
        ],
        "target_point_next": [
            71.90829233332298,
            4.580205519824553
        ]
    },
    "530": {
        "acceleration": [
            1.0370445251464844,
            0.09316086769104004,
            0.008010342717170715
        ],
        "angular_velocity": [
            0.05907460302114487,
            -0.3033902943134308,
            1.067134141921997
        ],
        "forward_vector": [
            -0.9885718822479248,
            -0.15056034922599792,
            -0.007561611011624336
        ],
        "right_vector": [
            0.15056060254573822,
            -0.9886006712913513,
            0.0005406060954555869
        ],
        "location": [
            2917.997314453125,
            4254.05078125,
            360.6374206542969
        ],
        "rotation": [
            -0.030975336208939552,
            -0.4332525432109833,
            -171.34034729003906
        ],
        "velocity": [
            -4.966328144073486,
            -0.7789525389671326,
            -0.03675375506281853
        ],
        "speed": 5.027045085592504,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.423185348510742,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2889.0234375,
                4248.9326171875,
                360.4307861328125
            ],
            "velocity": [
                -6.080169677734375,
                -0.9880167245864868,
                -0.0413651317358017
            ],
            "speed_kmh": 22.176219573264905,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.857271194458008,
                "transform": {
                    "location": {
                        "x": 2870.017333984375,
                        "y": 4252.6279296875,
                        "z": 360.3022155761719
                    },
                    "rotation": {
                        "roll": 0.0016764079919084907,
                        "pitch": 0.3969842195510864,
                        "yaw": 9.340560913085938
                    }
                },
                "velocity": {
                    "x": 7.752939224243164,
                    "y": 1.2749305963516235,
                    "z": 0.05653993412852287
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.073723793029785,
                "transform": {
                    "location": {
                        "x": 2873.087158203125,
                        "y": 4249.8369140625,
                        "z": 360.33038330078125
                    },
                    "rotation": {
                        "roll": 0.006187101826071739,
                        "pitch": 0.41802120208740234,
                        "yaw": 9.317798614501953
                    }
                },
                "velocity": {
                    "x": 7.967255592346191,
                    "y": 1.3056076765060425,
                    "z": 0.05699000135064125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.571113109588623,
                "transform": {
                    "location": {
                        "x": 2946.849853515625,
                        "y": 4258.2880859375,
                        "z": 360.84991455078125
                    },
                    "rotation": {
                        "roll": 0.0006947725778445601,
                        "pitch": -0.4795543849468231,
                        "yaw": -170.8037109375
                    }
                },
                "velocity": {
                    "x": -4.512375831604004,
                    "y": -0.7293896079063416,
                    "z": -0.03911810740828514
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997232437133789,
                "transform": {
                    "location": {
                        "x": 2912.54150390625,
                        "y": 4259.5244140625,
                        "z": 360.61328125
                    },
                    "rotation": {
                        "roll": -0.0006103530758991838,
                        "pitch": 0.40164926648139954,
                        "yaw": 9.183730125427246
                    }
                },
                "velocity": {
                    "x": 7.894525051116943,
                    "y": 1.2763335704803467,
                    "z": 0.05636930465698242
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04537582397461,
                "transform": {
                    "location": {
                        "x": 2916.567626953125,
                        "y": 4256.88232421875,
                        "z": 360.6296081542969
                    },
                    "rotation": {
                        "roll": 0.0012511203531175852,
                        "pitch": 0.40866386890411377,
                        "yaw": 9.185567855834961
                    }
                },
                "velocity": {
                    "x": 7.9420061111450195,
                    "y": 1.2843153476715088,
                    "z": 0.05600017309188843
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1762617826461792,
                "transform": {
                    "location": {
                        "x": 2933.455810546875,
                        "y": 4256.12255859375,
                        "z": 360.74346923828125
                    },
                    "rotation": {
                        "roll": -6.103642954258248e-05,
                        "pitch": -0.41781631112098694,
                        "yaw": -170.74365234375
                    }
                },
                "velocity": {
                    "x": -1.1611384153366089,
                    "y": -0.18787360191345215,
                    "z": -0.007264346815645695
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042964935302734,
                "transform": {
                    "location": {
                        "x": 2955.18408203125,
                        "y": 4266.42431640625,
                        "z": 360.9626770019531
                    },
                    "rotation": {
                        "roll": -0.00048828075523488224,
                        "pitch": 0.4587906002998352,
                        "yaw": 9.19049072265625
                    }
                },
                "velocity": {
                    "x": 7.939449310302734,
                    "y": 1.2846113443374634,
                    "z": 0.06481163203716278
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04566764831543,
                "transform": {
                    "location": {
                        "x": 2958.132080078125,
                        "y": 4263.60888671875,
                        "z": 360.9472961425781
                    },
                    "rotation": {
                        "roll": 0.00032273709075525403,
                        "pitch": 0.46580520272254944,
                        "yaw": 9.213528633117676
                    }
                },
                "velocity": {
                    "x": 7.942024230957031,
                    "y": 1.285618543624878,
                    "z": 0.06491706520318985
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.160061359405518,
                "transform": {
                    "location": {
                        "x": 2889.0234375,
                        "y": 4248.9326171875,
                        "z": 360.4307861328125
                    },
                    "rotation": {
                        "roll": -0.003234863979741931,
                        "pitch": -0.3924558162689209,
                        "yaw": -170.60147094726562
                    }
                },
                "velocity": {
                    "x": -6.080169677734375,
                    "y": -0.9880167245864868,
                    "z": -0.0413651317358017
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4139723777770996,
                "transform": {
                    "location": {
                        "x": 2953.40234375,
                        "y": 4256.05810546875,
                        "z": 360.8961486816406
                    },
                    "rotation": {
                        "roll": -0.0010376007994636893,
                        "pitch": -0.4290451407432556,
                        "yaw": -170.75953674316406
                    }
                },
                "velocity": {
                    "x": -1.395696997642517,
                    "y": -0.2263556271791458,
                    "z": -0.010535506531596184
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.894505977630615,
                "transform": {
                    "location": {
                        "x": 2871.9150390625,
                        "y": 4246.16259765625,
                        "z": 360.31182861328125
                    },
                    "rotation": {
                        "roll": 0.0007720792782492936,
                        "pitch": -0.3889451026916504,
                        "yaw": -170.80775451660156
                    }
                },
                "velocity": {
                    "x": -5.818716526031494,
                    "y": -0.94129878282547,
                    "z": -0.04113601893186569
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000838589679915458,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0027160663157701492,
                        "pitch": -0.42797279357910156,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": 1.246958981937496e-05,
                    "y": 8.42846930027008e-06,
                    "z": -0.0008384545799344778
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.10410737991333,
                "transform": {
                    "location": {
                        "x": 2889.84619140625,
                        "y": 4245.80029296875,
                        "z": 360.4406433105469
                    },
                    "rotation": {
                        "roll": 0.00035550317261368036,
                        "pitch": 0.03626830130815506,
                        "yaw": -170.47720336914062
                    }
                },
                "velocity": {
                    "x": -4.048616409301758,
                    "y": -0.6720230579376221,
                    "z": -0.02810862474143505
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.192150115966797,
                "transform": {
                    "location": {
                        "x": 2872.178466796875,
                        "y": 4242.9345703125,
                        "z": 360.3121643066406
                    },
                    "rotation": {
                        "roll": -0.001342771458439529,
                        "pitch": -0.418000727891922,
                        "yaw": -170.5263671875
                    }
                },
                "velocity": {
                    "x": -5.122037887573242,
                    "y": -0.8495638370513916,
                    "z": -0.03732434660196304
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.33952781558036804,
        "expert_target_speed": 6.098912427135415,
        "target_point": [
            28.6498648217357,
            3.8414671721749736
        ],
        "target_point_next": [
            70.64804894692779,
            4.231461236976024
        ]
    },
    "535": {
        "acceleration": [
            0.8284568786621094,
            0.047599077224731445,
            0.009372159838676453
        ],
        "angular_velocity": [
            0.16658158600330353,
            -0.15080644190311432,
            -3.1517884731292725
        ],
        "forward_vector": [
            -0.9878762364387512,
            -0.15515539050102234,
            -0.005233025178313255
        ],
        "right_vector": [
            0.1551540344953537,
            -0.9878900647163391,
            0.0006684441468678415
        ],
        "location": [
            2916.684326171875,
            4253.841796875,
            360.6273498535156
        ],
        "rotation": [
            -0.0382995568215847,
            -0.2998316287994385,
            -171.07406616210938
        ],
        "velocity": [
            -5.414130210876465,
            -0.8785867691040039,
            -0.03774670511484146
        ],
        "speed": 5.4849540245265365,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.772314071655273,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2887.36669921875,
                4248.66259765625,
                360.4191589355469
            ],
            "velocity": [
                -7.19347620010376,
                -1.1661871671676636,
                -0.05005134642124176
            ],
            "speed_kmh": 26.23523248304372,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.091910362243652,
                "transform": {
                    "location": {
                        "x": 2871.9755859375,
                        "y": 4252.94970703125,
                        "z": 360.3161315917969
                    },
                    "rotation": {
                        "roll": 0.0030681751668453217,
                        "pitch": 0.41266635060310364,
                        "yaw": 9.336515426635742
                    }
                },
                "velocity": {
                    "x": 7.98577356338501,
                    "y": 1.3050518035888672,
                    "z": 0.05719323083758354
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078225135803223,
                "transform": {
                    "location": {
                        "x": 2875.087646484375,
                        "y": 4250.1640625,
                        "z": 360.3443603515625
                    },
                    "rotation": {
                        "roll": 0.003272685222327709,
                        "pitch": 0.40291282534599304,
                        "yaw": 9.29920482635498
                    }
                },
                "velocity": {
                    "x": 7.972275733947754,
                    "y": 1.3028299808502197,
                    "z": 0.05634380131959915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.19556735455989838,
                "transform": {
                    "location": {
                        "x": 2946.49365234375,
                        "y": 4258.23095703125,
                        "z": 360.8474426269531
                    },
                    "rotation": {
                        "roll": 0.0004825163050554693,
                        "pitch": -0.5322561264038086,
                        "yaw": -170.72352600097656
                    }
                },
                "velocity": {
                    "x": -0.19293756783008575,
                    "y": -0.031912583857774734,
                    "z": -0.0018099498702213168
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05544376373291,
                "transform": {
                    "location": {
                        "x": 2914.522705078125,
                        "y": 4259.8447265625,
                        "z": 360.62750244140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4023869037628174,
                        "yaw": 9.183765411376953
                    }
                },
                "velocity": {
                    "x": 7.9519853591918945,
                    "y": 1.2856616973876953,
                    "z": 0.056390292942523956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078210830688477,
                "transform": {
                    "location": {
                        "x": 2918.557373046875,
                        "y": 4257.20361328125,
                        "z": 360.6440124511719
                    },
                    "rotation": {
                        "roll": 0.0013892316492274404,
                        "pitch": 0.40891656279563904,
                        "yaw": 9.186745643615723
                    }
                },
                "velocity": {
                    "x": 7.974257469177246,
                    "y": 1.2905352115631104,
                    "z": 0.05674230307340622
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6052100658416748,
                "transform": {
                    "location": {
                        "x": 2933.1376953125,
                        "y": 4256.0712890625,
                        "z": 360.740966796875
                    },
                    "rotation": {
                        "roll": -0.0006713858456350863,
                        "pitch": -0.39980509877204895,
                        "yaw": -170.7604522705078
                    }
                },
                "velocity": {
                    "x": -1.584592580795288,
                    "y": -0.25616583228111267,
                    "z": -0.012035884894430637
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006194114685059,
                "transform": {
                    "location": {
                        "x": 2957.164306640625,
                        "y": 4266.7451171875,
                        "z": 360.9787292480469
                    },
                    "rotation": {
                        "roll": -0.0010986353736370802,
                        "pitch": 0.46045035123825073,
                        "yaw": 9.194010734558105
                    }
                },
                "velocity": {
                    "x": 7.903068542480469,
                    "y": 1.2792375087738037,
                    "z": 0.06482148915529251
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044867515563965,
                "transform": {
                    "location": {
                        "x": 2960.117431640625,
                        "y": 4263.9306640625,
                        "z": 360.9635314941406
                    },
                    "rotation": {
                        "roll": 0.0010205076541751623,
                        "pitch": 0.47309985756874084,
                        "yaw": 9.181854248046875
                    }
                },
                "velocity": {
                    "x": 7.941406726837158,
                    "y": 1.2844038009643555,
                    "z": 0.06521362066268921
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.287564754486084,
                "transform": {
                    "location": {
                        "x": 2887.36669921875,
                        "y": 4248.66259765625,
                        "z": 360.4191589355469
                    },
                    "rotation": {
                        "roll": -9.155565203400329e-05,
                        "pitch": -0.35665878653526306,
                        "yaw": -170.73660278320312
                    }
                },
                "velocity": {
                    "x": -7.19347620010376,
                    "y": -1.1661871671676636,
                    "z": -0.05005134642124176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1289541721343994,
                "transform": {
                    "location": {
                        "x": 2952.958251953125,
                        "y": 4255.986328125,
                        "z": 360.8926086425781
                    },
                    "rotation": {
                        "roll": -0.0008850107551552355,
                        "pitch": -0.4255685806274414,
                        "yaw": -170.76852416992188
                    }
                },
                "velocity": {
                    "x": -2.101328134536743,
                    "y": -0.3414681553840637,
                    "z": -0.016304178163409233
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.766032695770264,
                "transform": {
                    "location": {
                        "x": 2870.456787109375,
                        "y": 4245.9267578125,
                        "z": 360.3015441894531
                    },
                    "rotation": {
                        "roll": 0.00036838933010585606,
                        "pitch": -0.40884828567504883,
                        "yaw": -170.8368377685547
                    }
                },
                "velocity": {
                    "x": -5.69208288192749,
                    "y": -0.9196181297302246,
                    "z": -0.0403432697057724
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003983703500125557,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -7.139444278436713e-06,
                    "y": 2.8691906663880218e-06,
                    "z": -0.0003982960479333997
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.414144039154053,
                "transform": {
                    "location": {
                        "x": 2888.612548828125,
                        "y": 4245.595703125,
                        "z": 360.4327697753906
                    },
                    "rotation": {
                        "roll": -0.00012207034160383046,
                        "pitch": -0.01282026432454586,
                        "yaw": -170.52638244628906
                    }
                },
                "velocity": {
                    "x": -5.341017246246338,
                    "y": -0.8861176371574402,
                    "z": -0.03587358817458153
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.562213897705078,
                "transform": {
                    "location": {
                        "x": 2870.86767578125,
                        "y": 4242.71826171875,
                        "z": 360.3025817871094
                    },
                    "rotation": {
                        "roll": -0.0016479507321491838,
                        "pitch": -0.4040534794330597,
                        "yaw": -170.59962463378906
                    }
                },
                "velocity": {
                    "x": -5.4885077476501465,
                    "y": -0.9016706943511963,
                    "z": -0.03866789862513542
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3246300518512726,
        "expert_target_speed": 6.514744492677094,
        "target_point": [
            27.3378962752062,
            3.7055358927569158
        ],
        "target_point_next": [
            69.33743937248633,
            3.9003301530031713
        ]
    },
    "540": {
        "acceleration": [
            0.48844337463378906,
            0.0015926361083984375,
            0.004470720887184143
        ],
        "angular_velocity": [
            0.009450727142393589,
            -0.27620795369148254,
            4.37913179397583
        ],
        "forward_vector": [
            -0.9872258901596069,
            -0.15916317701339722,
            -0.007221873849630356
        ],
        "right_vector": [
            0.15916383266448975,
            -0.9872520565986633,
            0.0004889436531811953
        ],
        "location": [
            2915.358154296875,
            4253.62548828125,
            360.61834716796875
        ],
        "rotation": [
            -0.02801513671875,
            -0.41378650069236755,
            -170.8414306640625
        ],
        "velocity": [
            -5.230405807495117,
            -0.8635625243186951,
            -0.036944352090358734
        ],
        "speed": 5.301215440301057,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 30.336267471313477,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2885.483642578125,
                4248.35693359375,
                360.4062805175781
            ],
            "velocity": [
                -7.7239837646484375,
                -1.2499494552612305,
                -0.053311631083488464
            ],
            "speed_kmh": 28.16873846901579,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074536323547363,
                "transform": {
                    "location": {
                        "x": 2873.97998046875,
                        "y": 4253.27734375,
                        "z": 360.3302917480469
                    },
                    "rotation": {
                        "roll": 0.0014686293434351683,
                        "pitch": 0.39772188663482666,
                        "yaw": 9.256213188171387
                    }
                },
                "velocity": {
                    "x": 7.969286918640137,
                    "y": 1.2982356548309326,
                    "z": 0.05650066211819649
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.006221771240234,
                "transform": {
                    "location": {
                        "x": 2877.0673828125,
                        "y": 4250.4873046875,
                        "z": 360.358154296875
                    },
                    "rotation": {
                        "roll": 0.003279617754742503,
                        "pitch": 0.3915269076824188,
                        "yaw": 9.24492359161377
                    }
                },
                "velocity": {
                    "x": 7.902015209197998,
                    "y": 1.286303997039795,
                    "z": 0.05628325417637825
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0038847923278809,
                "transform": {
                    "location": {
                        "x": 2946.33056640625,
                        "y": 4258.20458984375,
                        "z": 360.8453674316406
                    },
                    "rotation": {
                        "roll": 0.0007998549845069647,
                        "pitch": -0.42977598309516907,
                        "yaw": -170.7328643798828
                    }
                },
                "velocity": {
                    "x": -0.9908787608146667,
                    "y": -0.16094347834587097,
                    "z": -0.0064207264222204685
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997376918792725,
                "transform": {
                    "location": {
                        "x": 2916.50341796875,
                        "y": 4260.1650390625,
                        "z": 360.6417236328125
                    },
                    "rotation": {
                        "roll": 0.000674448034260422,
                        "pitch": 0.40594545006752014,
                        "yaw": 9.18579387664795
                    }
                },
                "velocity": {
                    "x": 7.894352912902832,
                    "y": 1.278291940689087,
                    "z": 0.05657193064689636
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045331954956055,
                "transform": {
                    "location": {
                        "x": 2920.546875,
                        "y": 4257.52587890625,
                        "z": 360.65838623046875
                    },
                    "rotation": {
                        "roll": 0.00012856295506935567,
                        "pitch": 0.4117920696735382,
                        "yaw": 9.192662239074707
                    }
                },
                "velocity": {
                    "x": 7.941805362701416,
                    "y": 1.2852327823638916,
                    "z": 0.05720069631934166
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.096909999847412,
                "transform": {
                    "location": {
                        "x": 2932.533447265625,
                        "y": 4255.97314453125,
                        "z": 360.7359924316406
                    },
                    "rotation": {
                        "roll": -0.0010986325796693563,
                        "pitch": -0.3404780924320221,
                        "yaw": -170.78749084472656
                    }
                },
                "velocity": {
                    "x": -3.0567333698272705,
                    "y": -0.49670425057411194,
                    "z": -0.022740116342902184
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041738510131836,
                "transform": {
                    "location": {
                        "x": 2959.14453125,
                        "y": 4267.0654296875,
                        "z": 360.9949035644531
                    },
                    "rotation": {
                        "roll": 0.0010179862147197127,
                        "pitch": 0.47234171628952026,
                        "yaw": 9.187281608581543
                    }
                },
                "velocity": {
                    "x": 7.938302993774414,
                    "y": 1.2840064764022827,
                    "z": 0.06502567231655121
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044633865356445,
                "transform": {
                    "location": {
                        "x": 2962.102783203125,
                        "y": 4264.251953125,
                        "z": 360.97998046875
                    },
                    "rotation": {
                        "roll": 0.00014512310735881329,
                        "pitch": 0.47269004583358765,
                        "yaw": 9.210148811340332
                    }
                },
                "velocity": {
                    "x": 7.941058158874512,
                    "y": 1.285064935684204,
                    "z": 0.06583911925554276
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.824649333953857,
                "transform": {
                    "location": {
                        "x": 2885.483642578125,
                        "y": 4248.35693359375,
                        "z": 360.4062805175781
                    },
                    "rotation": {
                        "roll": 0.001276815077289939,
                        "pitch": -0.37085193395614624,
                        "yaw": -170.80996704101562
                    }
                },
                "velocity": {
                    "x": -7.7239837646484375,
                    "y": -1.2499494552612305,
                    "z": -0.053311631083488464
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00047765945782884955,
                "transform": {
                    "location": {
                        "x": 2952.67529296875,
                        "y": 4255.94091796875,
                        "z": 360.89093017578125
                    },
                    "rotation": {
                        "roll": -0.0008850114536471665,
                        "pitch": -0.4855922758579254,
                        "yaw": -170.70034790039062
                    }
                },
                "velocity": {
                    "x": -1.5381723642349243e-05,
                    "y": -1.1703250493155792e-05,
                    "z": -0.0004772682732436806
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.60978364944458,
                "transform": {
                    "location": {
                        "x": 2869.065673828125,
                        "y": 4245.7021484375,
                        "z": 360.29156494140625
                    },
                    "rotation": {
                        "roll": 0.0005236204597167671,
                        "pitch": -0.41531646251678467,
                        "yaw": -170.8123321533203
                    }
                },
                "velocity": {
                    "x": -5.537637710571289,
                    "y": -0.8958489894866943,
                    "z": -0.04119624197483063
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009870209032669663,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -9.778812454896979e-06,
                    "y": -1.1408067621232476e-05,
                    "z": -0.0009869065834209323
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.93829870223999,
                "transform": {
                    "location": {
                        "x": 2887.118408203125,
                        "y": 4245.34765625,
                        "z": 360.4231872558594
                    },
                    "rotation": {
                        "roll": 0.003184559289366007,
                        "pitch": -0.10683781653642654,
                        "yaw": -170.62066650390625
                    }
                },
                "velocity": {
                    "x": -6.84580659866333,
                    "y": -1.128136157989502,
                    "z": -0.04724831506609917
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.397604465484619,
                "transform": {
                    "location": {
                        "x": 2869.37890625,
                        "y": 4242.47314453125,
                        "z": 360.2917175292969
                    },
                    "rotation": {
                        "roll": 0.0006303863483481109,
                        "pitch": -0.3898944854736328,
                        "yaw": -170.6557159423828
                    }
                },
                "velocity": {
                    "x": -6.313164710998535,
                    "y": -1.0350128412246704,
                    "z": -0.045196764171123505
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.33825477957725525,
        "expert_target_speed": 6.348454754630871,
        "target_point": [
            26.009021767740517,
            3.592038815882287
        ],
        "target_point_next": [
            68.00900958269966,
            3.6163025212739726
        ]
    },
    "545": {
        "acceleration": [
            0.024290084838867188,
            -0.08098602294921875,
            -0.0053041428327560425
        ],
        "angular_velocity": [
            -0.00012270327715668827,
            0.039610959589481354,
            -2.4420766830444336
        ],
        "forward_vector": [
            -0.9866445064544678,
            -0.16271667182445526,
            -0.007480193395167589
        ],
        "right_vector": [
            0.16271734237670898,
            -0.9866726398468018,
            0.0005235628341324627
        ],
        "location": [
            2914.057861328125,
            4253.4091796875,
            360.6091003417969
        ],
        "rotation": [
            -0.029998779296875,
            -0.42858752608299255,
            -170.63511657714844
        ],
        "velocity": [
            -5.1892619132995605,
            -0.8776427507400513,
            -0.03736436739563942
        ],
        "speed": 5.262955063721139,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 30.977794647216797,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2883.549072265625,
                4248.04345703125,
                360.3932800292969
            ],
            "velocity": [
                -7.496842861175537,
                -1.2114497423171997,
                -0.05273161455988884
            ],
            "speed_kmh": 27.33939739761926,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.001749992370605,
                "transform": {
                    "location": {
                        "x": 2875.956787109375,
                        "y": 4253.59912109375,
                        "z": 360.3441467285156
                    },
                    "rotation": {
                        "roll": 0.00156505370978266,
                        "pitch": 0.3922167718410492,
                        "yaw": 9.272393226623535
                    }
                },
                "velocity": {
                    "x": 7.8973307609558105,
                    "y": 1.2872360944747925,
                    "z": 0.05656781047582626
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.066646575927734,
                "transform": {
                    "location": {
                        "x": 2879.051513671875,
                        "y": 4250.81005859375,
                        "z": 360.37200927734375
                    },
                    "rotation": {
                        "roll": 0.0013440594775602221,
                        "pitch": 0.40209320187568665,
                        "yaw": 9.250677108764648
                    }
                },
                "velocity": {
                    "x": 7.961938858032227,
                    "y": 1.294272541999817,
                    "z": 0.056413132697343826
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8569611310958862,
                "transform": {
                    "location": {
                        "x": 2945.97021484375,
                        "y": 4258.14599609375,
                        "z": 360.8426208496094
                    },
                    "rotation": {
                        "roll": -0.00018310581799596548,
                        "pitch": -0.4118672013282776,
                        "yaw": -170.7724151611328
                    }
                },
                "velocity": {
                    "x": -1.8332170248031616,
                    "y": -0.29567593336105347,
                    "z": -0.013991126790642738
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05606460571289,
                "transform": {
                    "location": {
                        "x": 2918.484619140625,
                        "y": 4260.48583984375,
                        "z": 360.6560363769531
                    },
                    "rotation": {
                        "roll": -0.00018310236919205636,
                        "pitch": 0.40645769238471985,
                        "yaw": 9.187339782714844
                    }
                },
                "velocity": {
                    "x": 7.952520370483398,
                    "y": 1.2862030267715454,
                    "z": 0.05726473778486252
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078545570373535,
                "transform": {
                    "location": {
                        "x": 2922.536376953125,
                        "y": 4257.84765625,
                        "z": 360.6728820800781
                    },
                    "rotation": {
                        "roll": 0.00028989033307880163,
                        "pitch": 0.4128166139125824,
                        "yaw": 9.19312858581543
                    }
                },
                "velocity": {
                    "x": 7.974584102630615,
                    "y": 1.2906033992767334,
                    "z": 0.0570308193564415
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.204614639282227,
                "transform": {
                    "location": {
                        "x": 2931.650146484375,
                        "y": 4255.83056640625,
                        "z": 360.7294006347656
                    },
                    "rotation": {
                        "roll": -0.0007629399769939482,
                        "pitch": -0.337643563747406,
                        "yaw": -170.71865844726562
                    }
                },
                "velocity": {
                    "x": -4.150557041168213,
                    "y": -0.6713401079177856,
                    "z": -0.031040295958518982
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006811141967773,
                "transform": {
                    "location": {
                        "x": 2961.125,
                        "y": 4267.3857421875,
                        "z": 361.0113525390625
                    },
                    "rotation": {
                        "roll": 0.0003340435796417296,
                        "pitch": 0.47180211544036865,
                        "yaw": 9.18710708618164
                    }
                },
                "velocity": {
                    "x": 7.903828144073486,
                    "y": 1.2784146070480347,
                    "z": 0.06465478986501694
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045262336730957,
                "transform": {
                    "location": {
                        "x": 2964.088134765625,
                        "y": 4264.5732421875,
                        "z": 360.99664306640625
                    },
                    "rotation": {
                        "roll": -0.0006103463820181787,
                        "pitch": 0.4831470549106598,
                        "yaw": 9.179923057556152
                    }
                },
                "velocity": {
                    "x": 7.941550254821777,
                    "y": 1.2858142852783203,
                    "z": 0.06859346479177475
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.5942769050598145,
                "transform": {
                    "location": {
                        "x": 2883.549072265625,
                        "y": 4248.04345703125,
                        "z": 360.3932800292969
                    },
                    "rotation": {
                        "roll": 0.0018388713942840695,
                        "pitch": -0.3926948606967926,
                        "yaw": -170.83531188964844
                    }
                },
                "velocity": {
                    "x": -7.496842861175537,
                    "y": -1.2114497423171997,
                    "z": -0.05273161455988884
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001167163485661149,
                "transform": {
                    "location": {
                        "x": 2952.67529296875,
                        "y": 4255.9404296875,
                        "z": 360.8906555175781
                    },
                    "rotation": {
                        "roll": -0.0008544940501451492,
                        "pitch": -0.4536679685115814,
                        "yaw": -170.7003631591797
                    }
                },
                "velocity": {
                    "x": 8.74280885909684e-06,
                    "y": 4.020793130621314e-05,
                    "z": -0.0011664378689602017
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.580455303192139,
                "transform": {
                    "location": {
                        "x": 2867.674560546875,
                        "y": 4245.47705078125,
                        "z": 360.2814636230469
                    },
                    "rotation": {
                        "roll": 0.00044666844769380987,
                        "pitch": -0.41048750281333923,
                        "yaw": -170.8394317626953
                    }
                },
                "velocity": {
                    "x": -5.508843421936035,
                    "y": -0.8901926875114441,
                    "z": -0.041011665016412735
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00023990463523659855,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -3.1067429517861456e-06,
                    "y": -1.2956764294358436e-05,
                    "z": -0.00023953434720169753
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.296209335327148,
                "transform": {
                    "location": {
                        "x": 2885.233642578125,
                        "y": 4245.03759765625,
                        "z": 360.4100341796875
                    },
                    "rotation": {
                        "roll": 0.006353186443448067,
                        "pitch": -0.09032924473285675,
                        "yaw": -170.7069549560547
                    }
                },
                "velocity": {
                    "x": -8.186887741088867,
                    "y": -1.3411602973937988,
                    "z": -0.05692814663052559
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.860446453094482,
                "transform": {
                    "location": {
                        "x": 2867.850830078125,
                        "y": 4242.22216796875,
                        "z": 360.2809143066406
                    },
                    "rotation": {
                        "roll": -0.0005798375350423157,
                        "pitch": -0.41497495770454407,
                        "yaw": -170.6825714111328
                    }
                },
                "velocity": {
                    "x": -5.783055782318115,
                    "y": -0.9483106732368469,
                    "z": -0.04250923544168472
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6771764159202576,
        "expert_target_speed": 6.313348372388072,
        "target_point": [
            24.703627524980533,
            3.4965153628069965
        ],
        "target_point_next": [
            66.70343039308196,
            3.369534164452073
        ]
    },
    "550": {
        "acceleration": [
            -0.2044391632080078,
            -0.2893376350402832,
            0.0031469017267227173
        ],
        "angular_velocity": [
            -0.21818873286247253,
            0.07885009050369263,
            4.939849853515625
        ],
        "forward_vector": [
            -0.9857390522956848,
            -0.16813091933727264,
            -0.007106244098395109
        ],
        "right_vector": [
            0.16812899708747864,
            -0.9857646226882935,
            0.000871364027261734
        ],
        "location": [
            2912.757080078125,
            4253.18603515625,
            360.5997314453125
        ],
        "rotation": [
            -0.0499267503619194,
            -0.4071612060070038,
            -170.32058715820312
        ],
        "velocity": [
            -5.220768928527832,
            -0.9226977825164795,
            -0.03694840893149376
        ],
        "speed": 5.301678923033955,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 31.426055908203125,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2881.803466796875,
                4247.76171875,
                360.38140869140625
            ],
            "velocity": [
                -6.48116397857666,
                -1.045828938484192,
                -0.04438431188464165
            ],
            "speed_kmh": 23.634545519255084,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.072850227355957,
                "transform": {
                    "location": {
                        "x": 2877.942138671875,
                        "y": 4253.9228515625,
                        "z": 360.3580017089844
                    },
                    "rotation": {
                        "roll": 0.0014877899084240198,
                        "pitch": 0.3992176949977875,
                        "yaw": 9.223228454589844
                    }
                },
                "velocity": {
                    "x": 7.968461513519287,
                    "y": 1.292793869972229,
                    "z": 0.05664287507534027
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04259204864502,
                "transform": {
                    "location": {
                        "x": 2881.040283203125,
                        "y": 4251.1328125,
                        "z": 360.3857727050781
                    },
                    "rotation": {
                        "roll": 0.0011676392750814557,
                        "pitch": 0.3909531831741333,
                        "yaw": 9.204569816589355
                    }
                },
                "velocity": {
                    "x": 7.938731670379639,
                    "y": 1.28711998462677,
                    "z": 0.0561116486787796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.614037036895752,
                "transform": {
                    "location": {
                        "x": 2945.416259765625,
                        "y": 4258.056640625,
                        "z": 360.83831787109375
                    },
                    "rotation": {
                        "roll": -0.00021362231927923858,
                        "pitch": -0.4110065996646881,
                        "yaw": -170.7100830078125
                    }
                },
                "velocity": {
                    "x": -2.5801196098327637,
                    "y": -0.4192863702774048,
                    "z": -0.019261788576841354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996984481811523,
                "transform": {
                    "location": {
                        "x": 2920.46484375,
                        "y": 4260.80615234375,
                        "z": 360.6703796386719
                    },
                    "rotation": {
                        "roll": 0.0007835407159291208,
                        "pitch": 0.4099137783050537,
                        "yaw": 9.190743446350098
                    }
                },
                "velocity": {
                    "x": 7.8941240310668945,
                    "y": 1.2772475481033325,
                    "z": 0.05659867078065872
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044584274291992,
                "transform": {
                    "location": {
                        "x": 2924.52587890625,
                        "y": 4258.169921875,
                        "z": 360.6874084472656
                    },
                    "rotation": {
                        "roll": 4.897986582363956e-05,
                        "pitch": 0.4136635661125183,
                        "yaw": 9.193333625793457
                    }
                },
                "velocity": {
                    "x": 7.941051959991455,
                    "y": 1.2852191925048828,
                    "z": 0.05685054510831833
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.206137657165527,
                "transform": {
                    "location": {
                        "x": 2930.449951171875,
                        "y": 4255.6357421875,
                        "z": 360.7206115722656
                    },
                    "rotation": {
                        "roll": -0.001983643276616931,
                        "pitch": -0.35000619292259216,
                        "yaw": -170.75233459472656
                    }
                },
                "velocity": {
                    "x": -5.138904094696045,
                    "y": -0.8331279754638672,
                    "z": -0.0378701314330101
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041157722473145,
                "transform": {
                    "location": {
                        "x": 2963.105224609375,
                        "y": 4267.7060546875,
                        "z": 361.02789306640625
                    },
                    "rotation": {
                        "roll": -0.0021362362895160913,
                        "pitch": 0.47869378328323364,
                        "yaw": 9.188953399658203
                    }
                },
                "velocity": {
                    "x": 7.937464237213135,
                    "y": 1.2854101657867432,
                    "z": 0.06786622852087021
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046037673950195,
                "transform": {
                    "location": {
                        "x": 2966.07373046875,
                        "y": 4264.89501953125,
                        "z": 361.0135498046875
                    },
                    "rotation": {
                        "roll": 0.0003848523774649948,
                        "pitch": 0.48698562383651733,
                        "yaw": 9.210161209106445
                    }
                },
                "velocity": {
                    "x": 7.942446231842041,
                    "y": 1.2851808071136475,
                    "z": 0.06770452111959457
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.565151214599609,
                "transform": {
                    "location": {
                        "x": 2881.803466796875,
                        "y": 4247.76171875,
                        "z": 360.38140869140625
                    },
                    "rotation": {
                        "roll": 0.0014965884620323777,
                        "pitch": -0.41925063729286194,
                        "yaw": -170.8404998779297
                    }
                },
                "velocity": {
                    "x": -6.48116397857666,
                    "y": -1.045828938484192,
                    "z": -0.04438431188464165
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006190319545567036,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.890625
                    },
                    "rotation": {
                        "roll": -0.0008544897427782416,
                        "pitch": -0.44516438245773315,
                        "yaw": -170.70042419433594
                    }
                },
                "velocity": {
                    "x": -2.6920064556179568e-05,
                    "y": 0.00012425157183315605,
                    "z": -0.0006058361614122987
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.3613104820251465,
                "transform": {
                    "location": {
                        "x": 2866.32763671875,
                        "y": 4245.259765625,
                        "z": 360.27166748046875
                    },
                    "rotation": {
                        "roll": 6.480848242063075e-05,
                        "pitch": -0.41894328594207764,
                        "yaw": -170.81167602539062
                    }
                },
                "velocity": {
                    "x": -5.292339324951172,
                    "y": -0.8562797904014587,
                    "z": -0.03971023112535477
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00010898630716837943,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -1.3456717169901822e-05,
                    "y": 3.1100398700800724e-06,
                    "z": -0.00010810762614710256
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.447121620178223,
                "transform": {
                    "location": {
                        "x": 2883.0986328125,
                        "y": 4244.6884765625,
                        "z": 360.3968200683594
                    },
                    "rotation": {
                        "roll": 0.0014934084611013532,
                        "pitch": -0.2705642580986023,
                        "yaw": -170.71414184570312
                    }
                },
                "velocity": {
                    "x": -8.336158752441406,
                    "y": -1.3634148836135864,
                    "z": -0.05847762152552605
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.991398811340332,
                "transform": {
                    "location": {
                        "x": 2866.647216796875,
                        "y": 4242.025390625,
                        "z": 360.27191162109375
                    },
                    "rotation": {
                        "roll": -0.00030517252162098885,
                        "pitch": -0.4275151789188385,
                        "yaw": -170.7080841064453
                    }
                },
                "velocity": {
                    "x": -4.9263529777526855,
                    "y": -0.8023227453231812,
                    "z": -0.037272270768880844
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9998589754104614,
        "expert_target_speed": 6.348102587452681,
        "target_point": [
            23.402667120679823,
            3.3595958872963885
        ],
        "target_point_next": [
            65.40114016059486,
            3.0020661687472376
        ]
    },
    "555": {
        "acceleration": [
            -0.2996349334716797,
            -0.418703556060791,
            -0.0004936754703521729
        ],
        "angular_velocity": [
            -0.17424164712429047,
            0.04870501905679703,
            -0.6067162752151489
        ],
        "forward_vector": [
            -0.9841904640197754,
            -0.17698585987091064,
            -0.006723352707922459
        ],
        "right_vector": [
            0.17697890102863312,
            -0.9842132925987244,
            0.0016180990496650338
        ],
        "location": [
            2911.442626953125,
            4252.9453125,
            360.5901794433594
        ],
        "rotation": [
            -0.09271237999200821,
            -0.3852226436138153,
            -169.80552673339844
        ],
        "velocity": [
            -5.290469169616699,
            -1.0124626159667969,
            -0.03727058693766594
        ],
        "speed": 5.386477938634404,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 31.570558547973633,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2880.341552734375,
                4247.525390625,
                360.3714294433594
            ],
            "velocity": [
                -4.357616901397705,
                -0.703442394733429,
                -0.03444436937570572
            ],
            "speed_kmh": 15.890989934211605,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.035933494567871,
                "transform": {
                    "location": {
                        "x": 2879.929931640625,
                        "y": 4254.24560546875,
                        "z": 360.3717956542969
                    },
                    "rotation": {
                        "roll": 0.0008593663806095719,
                        "pitch": 0.3901608884334564,
                        "yaw": 9.242527961730957
                    }
                },
                "velocity": {
                    "x": 7.932043075561523,
                    "y": 1.2867776155471802,
                    "z": 0.05594686418771744
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039950370788574,
                "transform": {
                    "location": {
                        "x": 2883.0234375,
                        "y": 4251.455078125,
                        "z": 360.3994445800781
                    },
                    "rotation": {
                        "roll": 0.0025192811153829098,
                        "pitch": 0.3918001055717468,
                        "yaw": 9.228127479553223
                    }
                },
                "velocity": {
                    "x": 7.936209678649902,
                    "y": 1.2861926555633545,
                    "z": 0.05554938316345215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.424971580505371,
                "transform": {
                    "location": {
                        "x": 2944.66552734375,
                        "y": 4257.93505859375,
                        "z": 360.8326721191406
                    },
                    "rotation": {
                        "roll": 0.0001989243464777246,
                        "pitch": -0.4107402265071869,
                        "yaw": -170.72645568847656
                    }
                },
                "velocity": {
                    "x": -3.3808181285858154,
                    "y": -0.547558605670929,
                    "z": -0.02605391852557659
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056388854980469,
                "transform": {
                    "location": {
                        "x": 2922.4462890625,
                        "y": 4261.12744140625,
                        "z": 360.6847839355469
                    },
                    "rotation": {
                        "roll": 2.2342088414006867e-05,
                        "pitch": 0.40802866220474243,
                        "yaw": 9.194661140441895
                    }
                },
                "velocity": {
                    "x": 7.952672481536865,
                    "y": 1.2872740030288696,
                    "z": 0.057597093284130096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07828426361084,
                "transform": {
                    "location": {
                        "x": 2926.515625,
                        "y": 4258.4921875,
                        "z": 360.7019348144531
                    },
                    "rotation": {
                        "roll": -0.0014648439828306437,
                        "pitch": 0.4163205027580261,
                        "yaw": 9.19350528717041
                    }
                },
                "velocity": {
                    "x": 7.974318027496338,
                    "y": 1.2906008958816528,
                    "z": 0.057217080146074295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.558767318725586,
                "transform": {
                    "location": {
                        "x": 2928.864990234375,
                        "y": 4255.37939453125,
                        "z": 360.7084045410156
                    },
                    "rotation": {
                        "roll": 0.0005146365147083998,
                        "pitch": -0.2802426517009735,
                        "yaw": -170.76278686523438
                    }
                },
                "velocity": {
                    "x": -7.461371898651123,
                    "y": -1.2082533836364746,
                    "z": -0.054917629808187485
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006721496582031,
                "transform": {
                    "location": {
                        "x": 2965.085205078125,
                        "y": 4268.02685546875,
                        "z": 361.0446472167969
                    },
                    "rotation": {
                        "roll": -0.0006408735644072294,
                        "pitch": 0.4865280091762543,
                        "yaw": 9.194965362548828
                    }
                },
                "velocity": {
                    "x": 7.90355920791626,
                    "y": 1.2793842554092407,
                    "z": 0.06718461960554123
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044634819030762,
                "transform": {
                    "location": {
                        "x": 2968.05908203125,
                        "y": 4265.21533203125,
                        "z": 361.03057861328125
                    },
                    "rotation": {
                        "roll": -0.00012207074905745685,
                        "pitch": 0.4904143810272217,
                        "yaw": 9.177074432373047
                    }
                },
                "velocity": {
                    "x": 7.941005229949951,
                    "y": 1.2852857112884521,
                    "z": 0.06802095472812653
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.414164066314697,
                "transform": {
                    "location": {
                        "x": 2880.341552734375,
                        "y": 4247.525390625,
                        "z": 360.3714294433594
                    },
                    "rotation": {
                        "roll": 0.0015549991512671113,
                        "pitch": -0.44677630066871643,
                        "yaw": -170.83714294433594
                    }
                },
                "velocity": {
                    "x": -4.357616901397705,
                    "y": -0.703442394733429,
                    "z": -0.03444436937570572
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011225451016798615,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.001251219306141138,
                        "pitch": -0.44280797243118286,
                        "yaw": -170.70042419433594
                    }
                },
                "velocity": {
                    "x": -6.640851552219829e-06,
                    "y": -7.4544082053762395e-06,
                    "z": -0.0011225006310269237
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.3925933837890625,
                "transform": {
                    "location": {
                        "x": 2865.010009765625,
                        "y": 4245.04638671875,
                        "z": 360.26190185546875
                    },
                    "rotation": {
                        "roll": 0.0004496505716815591,
                        "pitch": -0.4193667471408844,
                        "yaw": -170.8329315185547
                    }
                },
                "velocity": {
                    "x": -5.323207378387451,
                    "y": -0.8614349365234375,
                    "z": -0.03815962374210358
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006706874701194465,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -6.742775582324612e-08,
                    "y": -2.077767567243427e-05,
                    "z": -0.0006703655235469341
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.089218616485596,
                "transform": {
                    "location": {
                        "x": 2881.412109375,
                        "y": 4244.41259765625,
                        "z": 360.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012539111776277423,
                        "pitch": -1.1920455694198608,
                        "yaw": -170.72364807128906
                    }
                },
                "velocity": {
                    "x": -4.035770416259766,
                    "y": -0.6582969427108765,
                    "z": -0.030170725658535957
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.36076545715332,
                "transform": {
                    "location": {
                        "x": 2865.364501953125,
                        "y": 4241.81689453125,
                        "z": 360.26263427734375
                    },
                    "rotation": {
                        "roll": -0.0007629399769939482,
                        "pitch": -0.41403236985206604,
                        "yaw": -170.7313232421875
                    }
                },
                "velocity": {
                    "x": -5.29097843170166,
                    "y": -0.8613254427909851,
                    "z": -0.038333993405103683
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9992144703865051,
        "expert_target_speed": 6.424500404012368,
        "target_point": [
            22.09561479256162,
            3.1448109691995225
        ],
        "target_point_next": [
            64.08917702411021,
            2.409762474763733
        ]
    },
    "560": {
        "acceleration": [
            -0.27901649475097656,
            -0.5298113822937012,
            0.01550525426864624
        ],
        "angular_velocity": [
            -0.1890755593776703,
            0.0248277448117733,
            7.499515533447266
        ],
        "forward_vector": [
            -0.9812174439430237,
            -0.1927957534790039,
            -0.006494356784969568
        ],
        "right_vector": [
            0.19278283417224884,
            -0.9812381267547607,
            0.002566697308793664
        ],
        "location": [
            2910.109619140625,
            4252.67919921875,
            360.58056640625
        ],
        "rotation": [
            -0.1470641940832138,
            -0.3721018433570862,
            -168.88377380371094
        ],
        "velocity": [
            -5.364614963531494,
            -1.141174554824829,
            -0.037103038281202316
        ],
        "speed": 5.484648855808881,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 30.787822723388672,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2879.772705078125,
                4247.43359375,
                360.36773681640625
            ],
            "velocity": [
                -1.7205044031143188,
                -0.27814215421676636,
                -0.010631904006004333
            ],
            "speed_kmh": 6.274348172859297,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.043071746826172,
                "transform": {
                    "location": {
                        "x": 2881.912841796875,
                        "y": 4254.56787109375,
                        "z": 360.3854675292969
                    },
                    "rotation": {
                        "roll": -0.0002746546524576843,
                        "pitch": 0.39019501209259033,
                        "yaw": 9.19873046875
                    }
                },
                "velocity": {
                    "x": 7.939342975616455,
                    "y": 1.2864158153533936,
                    "z": 0.054496753960847855
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052331924438477,
                "transform": {
                    "location": {
                        "x": 2885.009521484375,
                        "y": 4251.77734375,
                        "z": 360.4131164550781
                    },
                    "rotation": {
                        "roll": 0.0011458212975412607,
                        "pitch": 0.39404043555259705,
                        "yaw": 9.189850807189941
                    }
                },
                "velocity": {
                    "x": 7.9486589431762695,
                    "y": 1.2867910861968994,
                    "z": 0.0550643727183342
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.164397239685059,
                "transform": {
                    "location": {
                        "x": 2943.7255859375,
                        "y": 4257.7822265625,
                        "z": 360.82550048828125
                    },
                    "rotation": {
                        "roll": -0.00018310912128072232,
                        "pitch": -0.410835862159729,
                        "yaw": -170.7598419189453
                    }
                },
                "velocity": {
                    "x": -4.110813617706299,
                    "y": -0.6652439832687378,
                    "z": -0.029439015313982964
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9968366622924805,
                "transform": {
                    "location": {
                        "x": 2924.4267578125,
                        "y": 4261.4482421875,
                        "z": 360.6992492675781
                    },
                    "rotation": {
                        "roll": -0.0014038067311048508,
                        "pitch": 0.411109060049057,
                        "yaw": 9.189226150512695
                    }
                },
                "velocity": {
                    "x": 7.894303798675537,
                    "y": 1.2752217054367065,
                    "z": 0.05630255490541458
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04542350769043,
                "transform": {
                    "location": {
                        "x": 2928.5048828125,
                        "y": 4258.814453125,
                        "z": 360.7165832519531
                    },
                    "rotation": {
                        "roll": -0.0009765628492459655,
                        "pitch": 0.41723573207855225,
                        "yaw": 9.193337440490723
                    }
                },
                "velocity": {
                    "x": 7.941882133483887,
                    "y": 1.2853540182113647,
                    "z": 0.05672813206911087
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.258702278137207,
                "transform": {
                    "location": {
                        "x": 2926.85595703125,
                        "y": 4255.0537109375,
                        "z": 360.694091796875
                    },
                    "rotation": {
                        "roll": -0.00021362226107157767,
                        "pitch": -0.3408195972442627,
                        "yaw": -170.7943572998047
                    }
                },
                "velocity": {
                    "x": -8.152355194091797,
                    "y": -1.319740891456604,
                    "z": -0.05969400331377983
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041424751281738,
                "transform": {
                    "location": {
                        "x": 2967.065673828125,
                        "y": 4268.34716796875,
                        "z": 361.06158447265625
                    },
                    "rotation": {
                        "roll": -0.0010070789139717817,
                        "pitch": 0.48646652698516846,
                        "yaw": 9.189740180969238
                    }
                },
                "velocity": {
                    "x": 7.93818998336792,
                    "y": 1.282577633857727,
                    "z": 0.06816943734884262
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044708251953125,
                "transform": {
                    "location": {
                        "x": 2970.0439453125,
                        "y": 4265.53662109375,
                        "z": 361.0477294921875
                    },
                    "rotation": {
                        "roll": 0.00021034646488260478,
                        "pitch": 0.4997785687446594,
                        "yaw": 9.211467742919922
                    }
                },
                "velocity": {
                    "x": 7.941103935241699,
                    "y": 1.2850719690322876,
                    "z": 0.0691668912768364
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7428745031356812,
                "transform": {
                    "location": {
                        "x": 2879.772705078125,
                        "y": 4247.43359375,
                        "z": 360.36773681640625
                    },
                    "rotation": {
                        "roll": 0.0003699579683598131,
                        "pitch": -0.4962815046310425,
                        "yaw": -170.8346405029297
                    }
                },
                "velocity": {
                    "x": -1.7205044031143188,
                    "y": -0.27814215421676636,
                    "z": -0.010631904006004333
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011646854691207409,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.001251219306141138,
                        "pitch": -0.44280797243118286,
                        "yaw": -170.70042419433594
                    }
                },
                "velocity": {
                    "x": -6.9603320298483595e-06,
                    "y": -1.357265682599973e-05,
                    "z": -0.0011645855847746134
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.765239238739014,
                "transform": {
                    "location": {
                        "x": 2863.629638671875,
                        "y": 4244.8232421875,
                        "z": 360.2516174316406
                    },
                    "rotation": {
                        "roll": 0.0005860506207682192,
                        "pitch": -0.41177159547805786,
                        "yaw": -170.80430603027344
                    }
                },
                "velocity": {
                    "x": -5.691048622131348,
                    "y": -0.9209871292114258,
                    "z": -0.04162510856986046
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00033525421167723835,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -9.278953257307876e-06,
                    "y": 1.545491613796912e-05,
                    "z": -0.00033476922544650733
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.467635154724121,
                "transform": {
                    "location": {
                        "x": 2880.55615234375,
                        "y": 4244.2734375,
                        "z": 360.3846740722656
                    },
                    "rotation": {
                        "roll": 0.0010542989475652575,
                        "pitch": -0.9834856986999512,
                        "yaw": -170.7411651611328
                    }
                },
                "velocity": {
                    "x": -3.4226980209350586,
                    "y": -0.5559031367301941,
                    "z": -0.024564508348703384
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.7983174324035645,
                "transform": {
                    "location": {
                        "x": 2863.9765625,
                        "y": 4241.59033203125,
                        "z": 360.2522888183594
                    },
                    "rotation": {
                        "roll": -0.0014343267539516091,
                        "pitch": -0.41225653886795044,
                        "yaw": -170.74899291992188
                    }
                },
                "velocity": {
                    "x": -5.722978591918945,
                    "y": -0.930739164352417,
                    "z": -0.041562214493751526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9992246627807617,
        "expert_target_speed": 6.5125819941854415,
        "target_point": [
            20.78404099138957,
            2.7848384245795783
        ],
        "target_point_next": [
            62.76034458464,
            1.3743414088482382
        ]
    },
    "565": {
        "acceleration": [
            -4.686031341552734,
            -1.6358065605163574,
            -0.03140106797218323
        ],
        "angular_velocity": [
            -0.48503032326698303,
            1.4045594930648804,
            2.271576404571533
        ],
        "forward_vector": [
            -0.9772241115570068,
            -0.21217627823352814,
            -0.0037833356764167547
        ],
        "right_vector": [
            0.21216437220573425,
            -0.9772284030914307,
            0.003318267408758402
        ],
        "location": [
            2908.723388671875,
            4252.37255859375,
            360.5701599121094
        ],
        "rotation": [
            -0.19012442231178284,
            -0.21676969528198242,
            -167.75
        ],
        "velocity": [
            -6.018824100494385,
            -1.410658836364746,
            -0.04222066327929497
        ],
        "speed": 6.181925420555151,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.882843017578125,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2879.26611328125,
                4247.3515625,
                360.3633117675781
            ],
            "velocity": [
                -2.3003904819488525,
                -0.37112197279930115,
                -0.014826955273747444
            ],
            "speed_kmh": 8.38865487062882,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0507230758667,
                "transform": {
                    "location": {
                        "x": 2883.8994140625,
                        "y": 4254.89013671875,
                        "z": 360.3990783691406
                    },
                    "rotation": {
                        "roll": 0.0009212133008986712,
                        "pitch": 0.39147910475730896,
                        "yaw": 9.220014572143555
                    }
                },
                "velocity": {
                    "x": 7.946683406829834,
                    "y": 1.2889580726623535,
                    "z": 0.05435576289892197
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04139232635498,
                "transform": {
                    "location": {
                        "x": 2886.99560546875,
                        "y": 4252.09912109375,
                        "z": 360.4267883300781
                    },
                    "rotation": {
                        "roll": 0.00034280141699127853,
                        "pitch": 0.39076876640319824,
                        "yaw": 9.214163780212402
                    }
                },
                "velocity": {
                    "x": 7.937759876251221,
                    "y": 1.2856894731521606,
                    "z": 0.0543924979865551
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.941460132598877,
                "transform": {
                    "location": {
                        "x": 2942.599609375,
                        "y": 4257.60009765625,
                        "z": 360.8171081542969
                    },
                    "rotation": {
                        "roll": 0.0003088170487899333,
                        "pitch": -0.40679922699928284,
                        "yaw": -170.78514099121094
                    }
                },
                "velocity": {
                    "x": -4.8779706954956055,
                    "y": -0.7887454628944397,
                    "z": -0.03618408739566803
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056147575378418,
                "transform": {
                    "location": {
                        "x": 2926.40771484375,
                        "y": 4261.7685546875,
                        "z": 360.71380615234375
                    },
                    "rotation": {
                        "roll": 0.00042017095256596804,
                        "pitch": 0.41372501850128174,
                        "yaw": 9.183493614196777
                    }
                },
                "velocity": {
                    "x": 7.952681064605713,
                    "y": 1.2857325077056885,
                    "z": 0.05722688511013985
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078543663024902,
                "transform": {
                    "location": {
                        "x": 2930.49462890625,
                        "y": 4259.13671875,
                        "z": 360.7312316894531
                    },
                    "rotation": {
                        "roll": 0.0008314409642480314,
                        "pitch": 0.4190593957901001,
                        "yaw": 9.195073127746582
                    }
                },
                "velocity": {
                    "x": 7.974533557891846,
                    "y": 1.2908170223236084,
                    "z": 0.05888797715306282
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.111390590667725,
                "transform": {
                    "location": {
                        "x": 2924.952392578125,
                        "y": 4254.7451171875,
                        "z": 360.6809997558594
                    },
                    "rotation": {
                        "roll": -0.0008544945740140975,
                        "pitch": -0.457977831363678,
                        "yaw": -170.79930114746094
                    }
                },
                "velocity": {
                    "x": -7.019699573516846,
                    "y": -1.1371142864227295,
                    "z": -0.051647815853357315
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.005477905273438,
                "transform": {
                    "location": {
                        "x": 2969.045654296875,
                        "y": 4268.66748046875,
                        "z": 361.0787353515625
                    },
                    "rotation": {
                        "roll": -0.0007629418978467584,
                        "pitch": 0.4952228367328644,
                        "yaw": 9.187179565429688
                    }
                },
                "velocity": {
                    "x": 7.902496337890625,
                    "y": 1.2781016826629639,
                    "z": 0.06845424324274063
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045275688171387,
                "transform": {
                    "location": {
                        "x": 2972.029296875,
                        "y": 4265.8583984375,
                        "z": 361.0651550292969
                    },
                    "rotation": {
                        "roll": -0.0002441418473608792,
                        "pitch": 0.49984005093574524,
                        "yaw": 9.183094024658203
                    }
                },
                "velocity": {
                    "x": 7.941511631011963,
                    "y": 1.2861344814300537,
                    "z": 0.06861207634210587
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.330181837081909,
                "transform": {
                    "location": {
                        "x": 2879.26611328125,
                        "y": 4247.3515625,
                        "z": 360.3633117675781
                    },
                    "rotation": {
                        "roll": 0.0009518029983155429,
                        "pitch": -0.3909600079059601,
                        "yaw": -170.83438110351562
                    }
                },
                "velocity": {
                    "x": -2.3003904819488525,
                    "y": -0.37112197279930115,
                    "z": -0.014826955273747444
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00017917586956173182,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.001251219306141138,
                        "pitch": -0.44280797243118286,
                        "yaw": -170.70042419433594
                    }
                },
                "velocity": {
                    "x": -1.221656748384703e-05,
                    "y": -9.975591638067272e-06,
                    "z": -0.0001784803462214768
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.957315444946289,
                "transform": {
                    "location": {
                        "x": 2862.173095703125,
                        "y": 4244.5869140625,
                        "z": 360.2408752441406
                    },
                    "rotation": {
                        "roll": -0.00024413892242591828,
                        "pitch": -0.41314446926116943,
                        "yaw": -170.82969665527344
                    }
                },
                "velocity": {
                    "x": -5.880730628967285,
                    "y": -0.9511747360229492,
                    "z": -0.04342377930879593
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009313273476436734,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -5.910023901378736e-06,
                    "y": 4.331488071329659e-06,
                    "z": -0.0009312985348515213
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.811131238937378,
                "transform": {
                    "location": {
                        "x": 2879.6689453125,
                        "y": 4244.12890625,
                        "z": 360.37261962890625
                    },
                    "rotation": {
                        "roll": -6.10337192483712e-05,
                        "pitch": -0.2500600516796112,
                        "yaw": -170.75022888183594
                    }
                },
                "velocity": {
                    "x": -3.7615087032318115,
                    "y": -0.6124489307403564,
                    "z": -0.026103543117642403
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.8945183753967285,
                "transform": {
                    "location": {
                        "x": 2862.522216796875,
                        "y": 4241.35400390625,
                        "z": 360.2416076660156
                    },
                    "rotation": {
                        "roll": -0.0007629403844475746,
                        "pitch": -0.41845834255218506,
                        "yaw": -170.75941467285156
                    }
                },
                "velocity": {
                    "x": -5.817880630493164,
                    "y": -0.9464255571365356,
                    "z": -0.0434730239212513
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9984151721000671,
        "expert_target_speed": 7.124516729719085,
        "target_point": [
            19.41534443149894,
            2.3675175749768065
        ],
        "target_point_next": [
            61.355521449104316,
            0.12673268658545567
        ]
    },
    "570": {
        "acceleration": [
            -0.9398937225341797,
            -1.2333464622497559,
            -0.021708384156227112
        ],
        "angular_velocity": [
            -0.439429372549057,
            -0.4422818422317505,
            10.22697639465332
        ],
        "forward_vector": [
            -0.9712141752243042,
            -0.2381921261548996,
            -0.0027466975152492523
        ],
        "right_vector": [
            0.23817677795886993,
            -0.9712090492248535,
            0.0049811359494924545
        ],
        "location": [
            2907.14892578125,
            4251.98388671875,
            360.5586242675781
        ],
        "rotation": [
            -0.28540030121803284,
            -0.15737438201904297,
            -166.2200927734375
        ],
        "velocity": [
            -6.446757793426514,
            -1.7228429317474365,
            -0.04576151818037033
        ],
        "speed": 6.672995865020268,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.924724578857422,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2878.615478515625,
                4247.24658203125,
                360.3586730957031
            ],
            "velocity": [
                -2.8774991035461426,
                -0.4643086791038513,
                -0.018536152318120003
            ],
            "speed_kmh": 10.493198601583906,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2847.75048828125,
                        "y": 4245.646484375,
                        "z": 360.3363952636719
                    },
                    "rotation": {
                        "roll": 6.670303420719392e-09,
                        "pitch": 0.4402671456336975,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 3.8643497290991036e-09,
                    "y": 6.25306362245226e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.041412353515625,
                "transform": {
                    "location": {
                        "x": 2885.884521484375,
                        "y": 4255.21142578125,
                        "z": 360.4127502441406
                    },
                    "rotation": {
                        "roll": -3.0513107049046084e-05,
                        "pitch": 0.3898944854736328,
                        "yaw": 9.1776704788208
                    }
                },
                "velocity": {
                    "x": 7.938161373138428,
                    "y": 1.2833471298217773,
                    "z": 0.05405070260167122
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046765327453613,
                "transform": {
                    "location": {
                        "x": 2888.98046875,
                        "y": 4252.42041015625,
                        "z": 360.4404296875
                    },
                    "rotation": {
                        "roll": 0.0005143139278516173,
                        "pitch": 0.39233970642089844,
                        "yaw": 9.178794860839844
                    }
                },
                "velocity": {
                    "x": 7.943300724029541,
                    "y": 1.2851336002349854,
                    "z": 0.05318746343255043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.400298118591309,
                "transform": {
                    "location": {
                        "x": 2941.3134765625,
                        "y": 4257.3916015625,
                        "z": 360.80780029296875
                    },
                    "rotation": {
                        "roll": 0.0002885294961743057,
                        "pitch": -0.4098864495754242,
                        "yaw": -170.80690002441406
                    }
                },
                "velocity": {
                    "x": -5.330915451049805,
                    "y": -0.8619375228881836,
                    "z": -0.040314748883247375
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996957302093506,
                "transform": {
                    "location": {
                        "x": 2928.388427734375,
                        "y": 4262.0888671875,
                        "z": 360.7284240722656
                    },
                    "rotation": {
                        "roll": 5.2188279369147494e-05,
                        "pitch": 0.4148656725883484,
                        "yaw": 9.18343734741211
                    }
                },
                "velocity": {
                    "x": 7.894250392913818,
                    "y": 1.27626633644104,
                    "z": 0.05728612840175629
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045504570007324,
                "transform": {
                    "location": {
                        "x": 2932.48388671875,
                        "y": 4259.45849609375,
                        "z": 360.7459716796875
                    },
                    "rotation": {
                        "roll": 0.000532088743057102,
                        "pitch": 0.4213065207004547,
                        "yaw": 9.192206382751465
                    }
                },
                "velocity": {
                    "x": 7.941969394683838,
                    "y": 1.2851667404174805,
                    "z": 0.060104016214609146
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.876604080200195,
                "transform": {
                    "location": {
                        "x": 2923.358642578125,
                        "y": 4254.4873046875,
                        "z": 360.66949462890625
                    },
                    "rotation": {
                        "roll": 9.010626672534272e-05,
                        "pitch": -0.47818151116371155,
                        "yaw": -170.80203247070312
                    }
                },
                "velocity": {
                    "x": -5.8008928298950195,
                    "y": -0.9393439292907715,
                    "z": -0.04185640066862106
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041433334350586,
                "transform": {
                    "location": {
                        "x": 2971.02587890625,
                        "y": 4268.98779296875,
                        "z": 361.0959777832031
                    },
                    "rotation": {
                        "roll": -0.00015258780331350863,
                        "pitch": 0.4989930987358093,
                        "yaw": 9.186935424804688
                    }
                },
                "velocity": {
                    "x": 7.937998294830322,
                    "y": 1.2838103771209717,
                    "z": 0.0682988315820694
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044698715209961,
                "transform": {
                    "location": {
                        "x": 2974.014892578125,
                        "y": 4266.1796875,
                        "z": 361.0826416015625
                    },
                    "rotation": {
                        "roll": 0.0002167202183045447,
                        "pitch": 0.5065131187438965,
                        "yaw": 9.208979606628418
                    }
                },
                "velocity": {
                    "x": 7.941127777099609,
                    "y": 1.2848211526870728,
                    "z": 0.06999702006578445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9147772789001465,
                "transform": {
                    "location": {
                        "x": 2878.615478515625,
                        "y": 4247.24658203125,
                        "z": 360.3586730957031
                    },
                    "rotation": {
                        "roll": 0.0009168190299533308,
                        "pitch": -0.3745060861110687,
                        "yaw": -170.83489990234375
                    }
                },
                "velocity": {
                    "x": -2.8774991035461426,
                    "y": -0.4643086791038513,
                    "z": -0.018536152318120003
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006120402249507606,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.00024414315703324974,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.7004852294922
                    }
                },
                "velocity": {
                    "x": -7.603764515806688e-06,
                    "y": -5.7939996622735634e-06,
                    "z": -0.0006119655445218086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.158156871795654,
                "transform": {
                    "location": {
                        "x": 2860.6962890625,
                        "y": 4244.3486328125,
                        "z": 360.2298889160156
                    },
                    "rotation": {
                        "roll": -6.1033075326122344e-05,
                        "pitch": -0.41549405455589294,
                        "yaw": -170.80880737304688
                    }
                },
                "velocity": {
                    "x": -6.078891277313232,
                    "y": -0.9838674664497375,
                    "z": -0.0444747693836689
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006437908159568906,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -1.1323169019306079e-05,
                    "y": -1.4375280443346128e-05,
                    "z": -0.0006435306859202683
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.8431806564331055,
                "transform": {
                    "location": {
                        "x": 2878.603759765625,
                        "y": 4243.9560546875,
                        "z": 360.36419677734375
                    },
                    "rotation": {
                        "roll": 0.00015254976460710168,
                        "pitch": -0.10696075856685638,
                        "yaw": -170.76043701171875
                    }
                },
                "velocity": {
                    "x": -4.780425071716309,
                    "y": -0.7764253616333008,
                    "z": -0.03314470872282982
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.10581111907959,
                "transform": {
                    "location": {
                        "x": 2861.06494140625,
                        "y": 4241.1171875,
                        "z": 360.23065185546875
                    },
                    "rotation": {
                        "roll": -0.00018310591985937208,
                        "pitch": -0.4165937006473541,
                        "yaw": -170.76849365234375
                    }
                },
                "velocity": {
                    "x": -6.026712417602539,
                    "y": -0.9786080121994019,
                    "z": -0.04466130584478378
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.001686692237854,
        "expert_target_speed": 7.541742902816462,
        "target_point": [
            17.849908623429155,
            1.845839602755941
        ],
        "target_point_next": [
            59.7153072377165,
            -1.513916943624114
        ]
    },
    "575": {
        "acceleration": [
            -0.6975173950195312,
            -1.0960125923156738,
            -0.014036893844604492
        ],
        "angular_velocity": [
            -0.0043738288804888725,
            -0.24642790853977203,
            4.648565769195557
        ],
        "forward_vector": [
            -0.9628840088844299,
            -0.2698828876018524,
            -0.004183875862509012
        ],
        "right_vector": [
            0.2698555886745453,
            -0.9628813862800598,
            0.0061134593561291695
        ],
        "location": [
            2905.512939453125,
            4251.52197265625,
            360.5472106933594
        ],
        "rotation": [
            -0.35028067231178284,
            -0.23971913754940033,
            -164.34255981445312
        ],
        "velocity": [
            -6.625641822814941,
            -2.0037550926208496,
            -0.047236740589141846
        ],
        "speed": 6.922005781234113,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.045204162597656,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2877.81640625,
                4247.11767578125,
                360.3531799316406
            ],
            "velocity": [
                -3.5193417072296143,
                -0.5690778493881226,
                -0.024833492934703827
            ],
            "speed_kmh": 12.83450861149452,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2847.231201171875,
                        "y": 4248.85498046875,
                        "z": 360.48828125
                    },
                    "rotation": {
                        "roll": 6.670303420719392e-09,
                        "pitch": 0.4402671456336975,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13265186548233032,
                "transform": {
                    "location": {
                        "x": 2847.75146484375,
                        "y": 4245.646484375,
                        "z": 360.0822448730469
                    },
                    "rotation": {
                        "roll": 0.0003396850370336324,
                        "pitch": 0.437173068523407,
                        "yaw": 9.191662788391113
                    }
                },
                "velocity": {
                    "x": -0.0010056066093966365,
                    "y": -0.00020142200810369104,
                    "z": 0.13264790177345276
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.046022415161133,
                "transform": {
                    "location": {
                        "x": 2887.86962890625,
                        "y": 4255.53173828125,
                        "z": 360.4263916015625
                    },
                    "rotation": {
                        "roll": -0.0008544904412701726,
                        "pitch": 0.39008575677871704,
                        "yaw": 9.204028129577637
                    }
                },
                "velocity": {
                    "x": 7.942643642425537,
                    "y": 1.2845385074615479,
                    "z": 0.053357407450675964
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045620918273926,
                "transform": {
                    "location": {
                        "x": 2890.966552734375,
                        "y": 4252.7421875,
                        "z": 360.45404052734375
                    },
                    "rotation": {
                        "roll": 0.0011634106049314141,
                        "pitch": 0.3926538825035095,
                        "yaw": 9.204413414001465
                    }
                },
                "velocity": {
                    "x": 7.942391395568848,
                    "y": 1.283557415008545,
                    "z": 0.05389871448278427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.146621227264404,
                "transform": {
                    "location": {
                        "x": 2939.86767578125,
                        "y": 4257.1572265625,
                        "z": 360.796875
                    },
                    "rotation": {
                        "roll": -0.00012206935207359493,
                        "pitch": -0.40703827142715454,
                        "yaw": -170.8348846435547
                    }
                },
                "velocity": {
                    "x": -6.0677690505981445,
                    "y": -0.9803464412689209,
                    "z": -0.04531954973936081
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05538272857666,
                "transform": {
                    "location": {
                        "x": 2930.36962890625,
                        "y": 4262.4091796875,
                        "z": 360.7430419921875
                    },
                    "rotation": {
                        "roll": 0.0010036408202722669,
                        "pitch": 0.4167986214160919,
                        "yaw": 9.187047958374023
                    }
                },
                "velocity": {
                    "x": 7.951826572418213,
                    "y": 1.2861672639846802,
                    "z": 0.05852324515581131
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078099250793457,
                "transform": {
                    "location": {
                        "x": 2934.4736328125,
                        "y": 4259.78076171875,
                        "z": 360.7608642578125
                    },
                    "rotation": {
                        "roll": -0.00015257949416991323,
                        "pitch": 0.4222559332847595,
                        "yaw": 9.192245483398438
                    }
                },
                "velocity": {
                    "x": 7.974151611328125,
                    "y": 1.2903022766113281,
                    "z": 0.06088774651288986
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.760341644287109,
                "transform": {
                    "location": {
                        "x": 2922.108642578125,
                        "y": 4254.28515625,
                        "z": 360.6604309082031
                    },
                    "rotation": {
                        "roll": 0.00044091956806369126,
                        "pitch": -0.4809545874595642,
                        "yaw": -170.7958984375
                    }
                },
                "velocity": {
                    "x": -4.69911527633667,
                    "y": -0.7602953910827637,
                    "z": -0.03343431279063225
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00636100769043,
                "transform": {
                    "location": {
                        "x": 2973.006103515625,
                        "y": 4269.30810546875,
                        "z": 361.1134338378906
                    },
                    "rotation": {
                        "roll": 0.00031125915120355785,
                        "pitch": 0.5027565360069275,
                        "yaw": 9.19014835357666
                    }
                },
                "velocity": {
                    "x": 7.903286457061768,
                    "y": 1.27867591381073,
                    "z": 0.06982991844415665
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2976.029541015625,
                        "y": 4266.49560546875,
                        "z": 361.1007080078125
                    },
                    "rotation": {
                        "roll": -3.3351894579425334e-09,
                        "pitch": 0.5180288553237915,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.565141439437866,
                "transform": {
                    "location": {
                        "x": 2877.81640625,
                        "y": 4247.11767578125,
                        "z": 360.3531799316406
                    },
                    "rotation": {
                        "roll": -0.0005798313650302589,
                        "pitch": -0.3735566735267639,
                        "yaw": -170.830078125
                    }
                },
                "velocity": {
                    "x": -3.5193417072296143,
                    "y": -0.5690778493881226,
                    "z": -0.024833492934703827
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00011121237912448123,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.00024414315703324974,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.7004852294922
                    }
                },
                "velocity": {
                    "x": -1.6715452147764154e-05,
                    "y": 2.0786187633348163e-06,
                    "z": 0.0001099293731385842
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.117376804351807,
                "transform": {
                    "location": {
                        "x": 2859.060546875,
                        "y": 4244.08349609375,
                        "z": 360.2174072265625
                    },
                    "rotation": {
                        "roll": 0.0006556506268680096,
                        "pitch": -0.3983502686023712,
                        "yaw": -170.83119201660156
                    }
                },
                "velocity": {
                    "x": -7.025943279266357,
                    "y": -1.135925531387329,
                    "z": -0.0533871054649353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012744154082611203,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -2.4997367290779948e-05,
                    "y": -6.3057427723833825e-06,
                    "z": -0.00012480671284720302
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.127331733703613,
                "transform": {
                    "location": {
                        "x": 2877.357421875,
                        "y": 4243.75341796875,
                        "z": 360.3570556640625
                    },
                    "rotation": {
                        "roll": 0.0008252041297964752,
                        "pitch": -0.2861575782299042,
                        "yaw": -170.76687622070312
                    }
                },
                "velocity": {
                    "x": -5.060925483703613,
                    "y": -0.8218294382095337,
                    "z": -0.03407413884997368
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.934312343597412,
                "transform": {
                    "location": {
                        "x": 2859.473876953125,
                        "y": 4240.85888671875,
                        "z": 360.2186584472656
                    },
                    "rotation": {
                        "roll": 8.031346806092188e-05,
                        "pitch": -0.4093332290649414,
                        "yaw": -170.78097534179688
                    }
                },
                "velocity": {
                    "x": -6.844615936279297,
                    "y": -1.1105297803878784,
                    "z": -0.05145569518208504
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9996892809867859,
        "expert_target_speed": 7.746751442480913,
        "target_point": [
            16.20085820399572,
            1.2567889279780209
        ],
        "target_point_next": [
            57.933706277557235,
            -3.472794230520133
        ]
    },
    "580": {
        "acceleration": [
            -0.5427837371826172,
            -0.9353256225585938,
            0.0005296617746353149
        ],
        "angular_velocity": [
            -0.017847442999482155,
            -0.09435689449310303,
            9.390914916992188
        ],
        "forward_vector": [
            -0.9540832042694092,
            -0.2995027005672455,
            -0.00482938764616847
        ],
        "right_vector": [
            0.2994720935821533,
            -0.9540851712226868,
            0.006166704930365086
        ],
        "location": [
            2903.833740234375,
            4250.99560546875,
            360.5352783203125
        ],
        "rotation": [
            -0.3533325493335724,
            -0.2767046093940735,
            -162.57205200195312
        ],
        "velocity": [
            -6.7819414138793945,
            -2.2480955123901367,
            -0.04888686165213585
        ],
        "speed": 7.144834691868043,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.30539321899414,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2876.8291015625,
                4246.95849609375,
                360.34619140625
            ],
            "velocity": [
                -4.3739118576049805,
                -0.7064400911331177,
                -0.030584024265408516
            ],
            "speed_kmh": 15.950518144626292,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3988688886165619,
                "transform": {
                    "location": {
                        "x": 2847.231689453125,
                        "y": 4248.85498046875,
                        "z": 360.1049499511719
                    },
                    "rotation": {
                        "roll": -3.051999374292791e-05,
                        "pitch": 0.44496631622314453,
                        "yaw": 9.191568374633789
                    }
                },
                "velocity": {
                    "x": 0.0029328095261007547,
                    "y": 0.000689325446728617,
                    "z": -0.3988575041294098
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13165035843849182,
                "transform": {
                    "location": {
                        "x": 2847.751220703125,
                        "y": 4245.646484375,
                        "z": 360.1333923339844
                    },
                    "rotation": {
                        "roll": 0.0005687831435352564,
                        "pitch": 0.43698182702064514,
                        "yaw": 9.191688537597656
                    }
                },
                "velocity": {
                    "x": -0.0010094210738316178,
                    "y": -0.00021999911405146122,
                    "z": 0.1316463053226471
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.046468734741211,
                "transform": {
                    "location": {
                        "x": 2889.855224609375,
                        "y": 4255.85302734375,
                        "z": 360.4400329589844
                    },
                    "rotation": {
                        "roll": -0.0005187995848245919,
                        "pitch": 0.3899696171283722,
                        "yaw": 9.174018859863281
                    }
                },
                "velocity": {
                    "x": 7.942972183227539,
                    "y": 1.2852938175201416,
                    "z": 0.053652018308639526
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045721054077148,
                "transform": {
                    "location": {
                        "x": 2892.9521484375,
                        "y": 4253.0625,
                        "z": 360.4676818847656
                    },
                    "rotation": {
                        "roll": -0.0007019084296189249,
                        "pitch": 0.39227139949798584,
                        "yaw": 9.168088912963867
                    }
                },
                "velocity": {
                    "x": 7.942525863647461,
                    "y": 1.2833530902862549,
                    "z": 0.05388881638646126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.268693447113037,
                "transform": {
                    "location": {
                        "x": 2938.201904296875,
                        "y": 4256.88818359375,
                        "z": 360.7843322753906
                    },
                    "rotation": {
                        "roll": 0.0007975705084390938,
                        "pitch": -0.39788582921028137,
                        "yaw": -170.8405303955078
                    }
                },
                "velocity": {
                    "x": -7.175636291503906,
                    "y": -1.1581554412841797,
                    "z": -0.05314766243100166
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996701240539551,
                "transform": {
                    "location": {
                        "x": 2932.349853515625,
                        "y": 4262.7294921875,
                        "z": 360.7576904296875
                    },
                    "rotation": {
                        "roll": 0.00021065092005301267,
                        "pitch": 0.4186837375164032,
                        "yaw": 9.187358856201172
                    }
                },
                "velocity": {
                    "x": 7.893893718719482,
                    "y": 1.276741862297058,
                    "z": 0.06004108116030693
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045166015625,
                "transform": {
                    "location": {
                        "x": 2936.463134765625,
                        "y": 4260.1015625,
                        "z": 360.77569580078125
                    },
                    "rotation": {
                        "roll": 0.000341848935931921,
                        "pitch": 0.42313703894615173,
                        "yaw": 9.191758155822754
                    }
                },
                "velocity": {
                    "x": 7.941636562347412,
                    "y": 1.285103678703308,
                    "z": 0.06014075130224228
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.543097019195557,
                "transform": {
                    "location": {
                        "x": 2920.85498046875,
                        "y": 4254.08251953125,
                        "z": 360.6507263183594
                    },
                    "rotation": {
                        "roll": 0.000306952279061079,
                        "pitch": -0.3956865072250366,
                        "yaw": -170.73928833007812
                    }
                },
                "velocity": {
                    "x": -5.471554279327393,
                    "y": -0.8868213295936584,
                    "z": -0.0395604632794857
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2975.05859375,
                        "y": 4269.54638671875,
                        "z": 361.09991455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5054954290390015,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2978.092041015625,
                        "y": 4266.78369140625,
                        "z": 361.1198425292969
                    },
                    "rotation": {
                        "roll": -3.3351894579425334e-09,
                        "pitch": 0.5180288553237915,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.430699348449707,
                "transform": {
                    "location": {
                        "x": 2876.8291015625,
                        "y": 4246.95849609375,
                        "z": 360.34619140625
                    },
                    "rotation": {
                        "roll": 0.00034063603379763663,
                        "pitch": -0.3681949973106384,
                        "yaw": -170.82772827148438
                    }
                },
                "velocity": {
                    "x": -4.3739118576049805,
                    "y": -0.7064400911331177,
                    "z": -0.030584024265408516
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011587508488446474,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.0009460460860282183,
                        "pitch": -0.4424118101596832,
                        "yaw": -170.70057678222656
                    }
                },
                "velocity": {
                    "x": -3.327876356706838e-06,
                    "y": -7.947208359837532e-06,
                    "z": -0.001158718834631145
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.178747177124023,
                "transform": {
                    "location": {
                        "x": 2857.2578125,
                        "y": 4243.79248046875,
                        "z": 360.2040100097656
                    },
                    "rotation": {
                        "roll": 0.00010472357098478824,
                        "pitch": -0.42659991979599,
                        "yaw": -170.81155395507812
                    }
                },
                "velocity": {
                    "x": -7.086429119110107,
                    "y": -1.1462526321411133,
                    "z": -0.055111803114414215
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000775994616560638,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -1.4973804354667664e-05,
                    "y": -6.718328222632408e-06,
                    "z": -0.0007758210995234549
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.209451675415039,
                "transform": {
                    "location": {
                        "x": 2876.006103515625,
                        "y": 4243.5341796875,
                        "z": 360.3475646972656
                    },
                    "rotation": {
                        "roll": 0.0009629360283724964,
                        "pitch": -0.27532491087913513,
                        "yaw": -170.77490234375
                    }
                },
                "velocity": {
                    "x": -6.1292009353637695,
                    "y": -0.9941492080688477,
                    "z": -0.043047573417425156
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.277176856994629,
                "transform": {
                    "location": {
                        "x": 2857.68310546875,
                        "y": 4240.56884765625,
                        "z": 360.2052001953125
                    },
                    "rotation": {
                        "roll": -0.0007019044132903218,
                        "pitch": -0.42309603095054626,
                        "yaw": -170.79283142089844
                    }
                },
                "velocity": {
                    "x": -7.18326473236084,
                    "y": -1.164024829864502,
                    "z": -0.055297281593084335
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9998147487640381,
        "expert_target_speed": 7.927309733737841,
        "target_point": [
            14.472189759714556,
            0.7563583415625548
        ],
        "target_point_next": [
            56.0389835989538,
            -5.260386219269227
        ]
    },
    "585": {
        "acceleration": [
            -0.4792308807373047,
            -0.8100175857543945,
            0.0021141022443771362
        ],
        "angular_velocity": [
            0.13921795785427094,
            -0.051197946071624756,
            2.2534239292144775
        ],
        "forward_vector": [
            -0.9465869069099426,
            -0.322407066822052,
            -0.005194163415580988
        ],
        "right_vector": [
            0.322378545999527,
            -0.9465940594673157,
            0.005643664393573999
        ],
        "location": [
            2902.118896484375,
            4250.412109375,
            360.52294921875
        ],
        "rotation": [
            -0.3233641982078552,
            -0.2976049780845642,
            -161.19117736816406
        ],
        "velocity": [
            -6.913915157318115,
            -2.451362133026123,
            -0.04935820400714874
        ],
        "speed": 7.335625338703413,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 26.756927490234375,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2875.61279296875,
                4246.76171875,
                360.3379211425781
            ],
            "velocity": [
                -5.199221611022949,
                -0.8405067920684814,
                -0.03480210527777672
            ],
            "speed_kmh": 18.960611911562008,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.12697406113147736,
                "transform": {
                    "location": {
                        "x": 2847.231689453125,
                        "y": 4248.85498046875,
                        "z": 360.1217956542969
                    },
                    "rotation": {
                        "roll": -6.10366405453533e-05,
                        "pitch": 0.44465896487236023,
                        "yaw": 9.191479682922363
                    }
                },
                "velocity": {
                    "x": 0.0012006568722426891,
                    "y": -0.00021014689991716295,
                    "z": 0.12696820497512817
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.795983910560608,
                "transform": {
                    "location": {
                        "x": 2847.87744140625,
                        "y": 4245.66845703125,
                        "z": 360.14837646484375
                    },
                    "rotation": {
                        "roll": 0.0051986598409712315,
                        "pitch": 0.2886779308319092,
                        "yaw": 9.19783878326416
                    }
                },
                "velocity": {
                    "x": 1.7693171501159668,
                    "y": 0.30762720108032227,
                    "z": 0.020987872034311295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044124603271484,
                "transform": {
                    "location": {
                        "x": 2891.840576171875,
                        "y": 4256.17431640625,
                        "z": 360.45367431640625
                    },
                    "rotation": {
                        "roll": 0.00045394798507913947,
                        "pitch": 0.3909258544445038,
                        "yaw": 9.214958190917969
                    }
                },
                "velocity": {
                    "x": 7.940275192260742,
                    "y": 1.2872624397277832,
                    "z": 0.054137714207172394
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044655799865723,
                "transform": {
                    "location": {
                        "x": 2894.9375,
                        "y": 4253.3828125,
                        "z": 360.4813537597656
                    },
                    "rotation": {
                        "roll": 0.0002441349788568914,
                        "pitch": 0.39348718523979187,
                        "yaw": 9.203400611877441
                    }
                },
                "velocity": {
                    "x": 7.941204071044922,
                    "y": 1.2848314046859741,
                    "z": 0.054564330726861954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.155759811401367,
                "transform": {
                    "location": {
                        "x": 2936.290771484375,
                        "y": 4256.580078125,
                        "z": 360.7701416015625
                    },
                    "rotation": {
                        "roll": 0.0002713598951231688,
                        "pitch": -0.4009457528591156,
                        "yaw": -170.83306884765625
                    }
                },
                "velocity": {
                    "x": -8.051346778869629,
                    "y": -1.2994718551635742,
                    "z": -0.05996064096689224
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05602741241455,
                "transform": {
                    "location": {
                        "x": 2934.331298828125,
                        "y": 4263.0498046875,
                        "z": 360.7724914550781
                    },
                    "rotation": {
                        "roll": 0.001298457384109497,
                        "pitch": 0.41757041215896606,
                        "yaw": 9.189534187316895
                    }
                },
                "velocity": {
                    "x": 7.952136039733887,
                    "y": 1.2882275581359863,
                    "z": 0.05980069190263748
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078991889953613,
                "transform": {
                    "location": {
                        "x": 2938.45263671875,
                        "y": 4260.42431640625,
                        "z": 360.79052734375
                    },
                    "rotation": {
                        "roll": -0.00012206626706756651,
                        "pitch": 0.4228843152523041,
                        "yaw": 9.195115089416504
                    }
                },
                "velocity": {
                    "x": 7.974954128265381,
                    "y": 1.2909586429595947,
                    "z": 0.06041157618165016
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.767072677612305,
                "transform": {
                    "location": {
                        "x": 2919.39208984375,
                        "y": 4253.845703125,
                        "z": 360.63983154296875
                    },
                    "rotation": {
                        "roll": 0.0016409847885370255,
                        "pitch": -0.3475610017776489,
                        "yaw": -170.7535858154297
                    }
                },
                "velocity": {
                    "x": -6.6799211502075195,
                    "y": -1.0814969539642334,
                    "z": -0.0479012206196785
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4713,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2977.114990234375,
                        "y": 4269.8759765625,
                        "z": 361.1174011230469
                    },
                    "rotation": {
                        "roll": -3.3351894579425334e-09,
                        "pitch": 0.5180288553237915,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4712,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2980.154541015625,
                        "y": 4267.072265625,
                        "z": 361.1390075683594
                    },
                    "rotation": {
                        "roll": -3.3351894579425334e-09,
                        "pitch": 0.5180288553237915,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.266836643218994,
                "transform": {
                    "location": {
                        "x": 2875.61279296875,
                        "y": 4246.76171875,
                        "z": 360.3379211425781
                    },
                    "rotation": {
                        "roll": 0.00036279443884268403,
                        "pitch": -0.3652306795120239,
                        "yaw": -170.8252410888672
                    }
                },
                "velocity": {
                    "x": -5.199221611022949,
                    "y": -0.8405067920684814,
                    "z": -0.03480210527777672
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009606512612663209,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.0009460460860282183,
                        "pitch": -0.4424118101596832,
                        "yaw": -170.70057678222656
                    }
                },
                "velocity": {
                    "x": -7.752850251563359e-06,
                    "y": -9.703570867714006e-06,
                    "z": -0.0009605709346942604
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.485006809234619,
                "transform": {
                    "location": {
                        "x": 2855.579345703125,
                        "y": 4243.52099609375,
                        "z": 360.1912841796875
                    },
                    "rotation": {
                        "roll": -0.00033569373772479594,
                        "pitch": -0.4556828737258911,
                        "yaw": -170.82969665527344
                    }
                },
                "velocity": {
                    "x": -6.40166711807251,
                    "y": -1.0351413488388062,
                    "z": -0.04954252019524574
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00025557895423844457,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -9.619444426789414e-06,
                    "y": -2.045519522653194e-06,
                    "z": -0.00025538966292515397
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.698014259338379,
                "transform": {
                    "location": {
                        "x": 2874.28369140625,
                        "y": 4243.25537109375,
                        "z": 360.3333435058594
                    },
                    "rotation": {
                        "roll": 0.0013449023244902492,
                        "pitch": -0.019500188529491425,
                        "yaw": -170.76553344726562
                    }
                },
                "velocity": {
                    "x": -7.598897933959961,
                    "y": -1.2301316261291504,
                    "z": -0.05435318499803543
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.879343032836914,
                "transform": {
                    "location": {
                        "x": 2855.942626953125,
                        "y": 4240.28662109375,
                        "z": 360.19195556640625
                    },
                    "rotation": {
                        "roll": -0.0012817393289878964,
                        "pitch": -0.44305387139320374,
                        "yaw": -170.7954864501953
                    }
                },
                "velocity": {
                    "x": -6.790558815002441,
                    "y": -1.1004140377044678,
                    "z": -0.05253446847200394
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9983161091804504,
        "expert_target_speed": 8.079227434611715,
        "target_point": [
            12.674817483475506,
            0.4079360396022169
        ],
        "target_point_next": [
            54.08454906384591,
            -6.608736649485564
        ]
    },
    "590": {
        "acceleration": [
            -0.4004478454589844,
            -0.39537906646728516,
            -0.0061702728271484375
        ],
        "angular_velocity": [
            0.307142436504364,
            0.045970674604177475,
            6.209206581115723
        ],
        "forward_vector": [
            -0.9399051070213318,
            -0.3413914740085602,
            -0.005508036818355322
        ],
        "right_vector": [
            0.341367244720459,
            -0.939917266368866,
            0.004889468662440777
        ],
        "location": [
            2900.3759765625,
            4249.78125,
            360.510498046875
        ],
        "rotation": [
            -0.28015127778053284,
            -0.3155888617038727,
            -160.0380096435547
        ],
        "velocity": [
            -7.0140910148620605,
            -2.604463815689087,
            -0.049122944474220276
        ],
        "speed": 7.4820254297885445,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 26.29061508178711,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2874.28564453125,
                4246.54736328125,
                360.3287048339844
            ],
            "velocity": [
                -5.579326152801514,
                -0.9021605253219604,
                -0.03860855847597122
            ],
            "speed_kmh": 20.34693265861687,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8536300659179688,
                "transform": {
                    "location": {
                        "x": 2847.502685546875,
                        "y": 4248.9013671875,
                        "z": 360.1409606933594
                    },
                    "rotation": {
                        "roll": -0.0071411109529435635,
                        "pitch": 0.7015628218650818,
                        "yaw": 9.270090103149414
                    }
                },
                "velocity": {
                    "x": 1.8268089294433594,
                    "y": 0.31126853823661804,
                    "z": 0.04272449389100075
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1170132160186768,
                "transform": {
                    "location": {
                        "x": 2848.51171875,
                        "y": 4245.77685546875,
                        "z": 360.1530456542969
                    },
                    "rotation": {
                        "roll": 0.00514899380505085,
                        "pitch": 0.28167015314102173,
                        "yaw": 9.3706693649292
                    }
                },
                "velocity": {
                    "x": 3.0711922645568848,
                    "y": 0.5321245193481445,
                    "z": 0.019803322851657867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.046355247497559,
                "transform": {
                    "location": {
                        "x": 2893.825927734375,
                        "y": 4256.49609375,
                        "z": 360.46728515625
                    },
                    "rotation": {
                        "roll": 0.0006868267664685845,
                        "pitch": 0.39079609513282776,
                        "yaw": 9.179473876953125
                    }
                },
                "velocity": {
                    "x": 7.942967891693115,
                    "y": 1.284570336341858,
                    "z": 0.05458066985011101
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046366691589355,
                "transform": {
                    "location": {
                        "x": 2896.923095703125,
                        "y": 4253.7041015625,
                        "z": 360.4950256347656
                    },
                    "rotation": {
                        "roll": -0.00015258898201864213,
                        "pitch": 0.3951537311077118,
                        "yaw": 9.180815696716309
                    }
                },
                "velocity": {
                    "x": 7.942864418029785,
                    "y": 1.2852402925491333,
                    "z": 0.05544856935739517
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.905331134796143,
                "transform": {
                    "location": {
                        "x": 2934.287353515625,
                        "y": 4256.2568359375,
                        "z": 360.7554626464844
                    },
                    "rotation": {
                        "roll": -9.155636507784948e-05,
                        "pitch": -0.4222969114780426,
                        "yaw": -170.8275909423828
                    }
                },
                "velocity": {
                    "x": -7.803864002227783,
                    "y": -1.2611241340637207,
                    "z": -0.059409379959106445
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996634006500244,
                "transform": {
                    "location": {
                        "x": 2936.3115234375,
                        "y": 4263.37060546875,
                        "z": 360.7872619628906
                    },
                    "rotation": {
                        "roll": 0.0011496837250888348,
                        "pitch": 0.41955116391181946,
                        "yaw": 9.19121265411377
                    }
                },
                "velocity": {
                    "x": 7.893739223480225,
                    "y": 1.2772769927978516,
                    "z": 0.06000883877277374
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044426918029785,
                "transform": {
                    "location": {
                        "x": 2940.442138671875,
                        "y": 4260.74560546875,
                        "z": 360.8053894042969
                    },
                    "rotation": {
                        "roll": 0.00010864563228096813,
                        "pitch": 0.4221329987049103,
                        "yaw": 9.193272590637207
                    }
                },
                "velocity": {
                    "x": 7.940890312194824,
                    "y": 1.2850924730300903,
                    "z": 0.05994565784931183
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.578802108764648,
                "transform": {
                    "location": {
                        "x": 2917.44189453125,
                        "y": 4253.52978515625,
                        "z": 360.6253356933594
                    },
                    "rotation": {
                        "roll": 0.0015703452518209815,
                        "pitch": -0.29223644733428955,
                        "yaw": -170.7907257080078
                    }
                },
                "velocity": {
                    "x": -8.468036651611328,
                    "y": -1.3727712631225586,
                    "z": -0.06086008995771408
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.651926040649414,
                "transform": {
                    "location": {
                        "x": 2874.28564453125,
                        "y": 4246.54736328125,
                        "z": 360.3287048339844
                    },
                    "rotation": {
                        "roll": -0.0001831051049521193,
                        "pitch": -0.3800658583641052,
                        "yaw": -170.8209228515625
                    }
                },
                "velocity": {
                    "x": -5.579326152801514,
                    "y": -0.9021605253219604,
                    "z": -0.03860855847597122
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00019430449174251407,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.0009460460860282183,
                        "pitch": -0.4424118101596832,
                        "yaw": -170.70057678222656
                    }
                },
                "velocity": {
                    "x": -1.353934385406319e-05,
                    "y": -2.5838146484602476e-06,
                    "z": -0.00019381497986614704
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.536022186279297,
                "transform": {
                    "location": {
                        "x": 2853.9921875,
                        "y": 4243.26416015625,
                        "z": 360.17889404296875
                    },
                    "rotation": {
                        "roll": 1.1572972653084435e-05,
                        "pitch": -0.43810880184173584,
                        "yaw": -170.79861450195312
                    }
                },
                "velocity": {
                    "x": -6.451907634735107,
                    "y": -1.0440572500228882,
                    "z": -0.049139611423015594
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009934214176610112,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -4.808828180102864e-06,
                    "y": 1.3135372967099102e-07,
                    "z": -0.0009934097761288285
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.915030479431152,
                "transform": {
                    "location": {
                        "x": 2872.22607421875,
                        "y": 4242.921875,
                        "z": 360.3191223144531
                    },
                    "rotation": {
                        "roll": -0.0016174322227016091,
                        "pitch": -0.0864565297961235,
                        "yaw": -170.76268005371094
                    }
                },
                "velocity": {
                    "x": -8.799715042114258,
                    "y": -1.4279067516326904,
                    "z": -0.062161464244127274
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.294060230255127,
                "transform": {
                    "location": {
                        "x": 2854.294189453125,
                        "y": 4240.02001953125,
                        "z": 360.1792907714844
                    },
                    "rotation": {
                        "roll": -0.00039673002902418375,
                        "pitch": -0.44769155979156494,
                        "yaw": -170.7960662841797
                    }
                },
                "velocity": {
                    "x": -6.212935447692871,
                    "y": -1.0061558485031128,
                    "z": -0.047703344374895096
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9977961778640747,
        "expert_target_speed": 8.19378723068879,
        "target_point": [
            10.826882873013762,
            0.15483714874259258
        ],
        "target_point_next": [
            52.08701365486849,
            -7.693804329141328
        ]
    },
    "595": {
        "acceleration": [
            -0.20757675170898438,
            -0.32586097717285156,
            0.0026392191648483276
        ],
        "angular_velocity": [
            0.2361145317554474,
            -0.02356920763850212,
            -0.28333500027656555
        ],
        "forward_vector": [
            -0.9356239438056946,
            -0.35295212268829346,
            -0.005717246327549219
        ],
        "right_vector": [
            0.35293257236480713,
            -0.935639500617981,
            0.004159776493906975
        ],
        "location": [
            2898.610595703125,
            4249.11669921875,
            360.4979248046875
        ],
        "rotation": [
            -0.23834224045276642,
            -0.3275758624076843,
            -159.3316650390625
        ],
        "velocity": [
            -7.090854167938232,
            -2.721846580505371,
            -0.04881926253437996
        ],
        "speed": 7.595305236708778,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 26.033000946044922,
        "front_vehicle_info": {
            "id": 4708,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2872.7314453125,
                4246.29638671875,
                360.3175354003906
            ],
            "velocity": [
                -6.754202842712402,
                -1.093316912651062,
                -0.04818474128842354
            ],
            "speed_kmh": 24.632240642488636,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.293510913848877,
                "transform": {
                    "location": {
                        "x": 2848.137451171875,
                        "y": 4249.009765625,
                        "z": 360.1490478515625
                    },
                    "rotation": {
                        "roll": -0.0065307533368468285,
                        "pitch": 0.740645170211792,
                        "yaw": 9.459157943725586
                    }
                },
                "velocity": {
                    "x": 3.2461953163146973,
                    "y": 0.5554675459861755,
                    "z": 0.029766777530312538
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.228907108306885,
                "transform": {
                    "location": {
                        "x": 2849.420654296875,
                        "y": 4245.93310546875,
                        "z": 360.1593933105469
                    },
                    "rotation": {
                        "roll": 0.004715286195278168,
                        "pitch": 0.32180434465408325,
                        "yaw": 9.542119979858398
                    }
                },
                "velocity": {
                    "x": 4.166583061218262,
                    "y": 0.7226725816726685,
                    "z": 0.03139268979430199
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044060707092285,
                "transform": {
                    "location": {
                        "x": 2895.8115234375,
                        "y": 4256.81787109375,
                        "z": 360.48095703125
                    },
                    "rotation": {
                        "roll": 0.001673709019087255,
                        "pitch": 0.3927221894264221,
                        "yaw": 9.210990905761719
                    }
                },
                "velocity": {
                    "x": 7.940493106842041,
                    "y": 1.2854154109954834,
                    "z": 0.056568391621112823
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046414375305176,
                "transform": {
                    "location": {
                        "x": 2898.90869140625,
                        "y": 4254.02685546875,
                        "z": 360.5088195800781
                    },
                    "rotation": {
                        "roll": -0.0006713822367601097,
                        "pitch": 0.3962124288082123,
                        "yaw": 9.214305877685547
                    }
                },
                "velocity": {
                    "x": 7.942826747894287,
                    "y": 1.285727858543396,
                    "z": 0.056514374911785126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.041788101196289,
                "transform": {
                    "location": {
                        "x": 2932.33056640625,
                        "y": 4255.9404296875,
                        "z": 360.74078369140625
                    },
                    "rotation": {
                        "roll": 1.0519040188228246e-05,
                        "pitch": -0.4196467995643616,
                        "yaw": -170.8161163330078
                    }
                },
                "velocity": {
                    "x": -7.9384765625,
                    "y": -1.2835439443588257,
                    "z": -0.05883407965302467
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056062698364258,
                "transform": {
                    "location": {
                        "x": 2938.292724609375,
                        "y": 4263.69091796875,
                        "z": 360.80206298828125
                    },
                    "rotation": {
                        "roll": 0.0002665479260031134,
                        "pitch": 0.4192369878292084,
                        "yaw": 9.191128730773926
                    }
                },
                "velocity": {
                    "x": 7.952408313751221,
                    "y": 1.2867175340652466,
                    "z": 0.06080770492553711
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078171730041504,
                "transform": {
                    "location": {
                        "x": 2942.431396484375,
                        "y": 4261.06787109375,
                        "z": 360.82025146484375
                    },
                    "rotation": {
                        "roll": 0.0006367725436575711,
                        "pitch": 0.42534318566322327,
                        "yaw": 9.19542407989502
                    }
                },
                "velocity": {
                    "x": 7.974108695983887,
                    "y": 1.2910373210906982,
                    "z": 0.06054655835032463
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.917550563812256,
                "transform": {
                    "location": {
                        "x": 2915.373291015625,
                        "y": 4253.19482421875,
                        "z": 360.6113586425781
                    },
                    "rotation": {
                        "roll": 0.00012913995306007564,
                        "pitch": -0.41324007511138916,
                        "yaw": -170.80441284179688
                    }
                },
                "velocity": {
                    "x": -7.815925121307373,
                    "y": -1.263215184211731,
                    "z": -0.056668251752853394
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.842288970947266,
                "transform": {
                    "location": {
                        "x": 2872.7314453125,
                        "y": 4246.29638671875,
                        "z": 360.3175354003906
                    },
                    "rotation": {
                        "roll": 9.375694207847118e-05,
                        "pitch": -0.3675529360771179,
                        "yaw": -170.79014587402344
                    }
                },
                "velocity": {
                    "x": -6.754202842712402,
                    "y": -1.093316912651062,
                    "z": -0.04818474128842354
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007645789883099496,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.0009460460860282183,
                        "pitch": -0.4424118101596832,
                        "yaw": -170.70057678222656
                    }
                },
                "velocity": {
                    "x": -6.219520855665905e-06,
                    "y": -6.646830570389284e-06,
                    "z": -0.0007645247969776392
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.643247604370117,
                "transform": {
                    "location": {
                        "x": 2852.34326171875,
                        "y": 4242.9970703125,
                        "z": 360.16619873046875
                    },
                    "rotation": {
                        "roll": 9.349417814519256e-05,
                        "pitch": -0.42999452352523804,
                        "yaw": -170.8193817138672
                    }
                },
                "velocity": {
                    "x": -6.557692050933838,
                    "y": -1.0616036653518677,
                    "z": -0.04908597469329834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00027172407135367393,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -3.938675035897177e-06,
                    "y": -1.4503840247925837e-05,
                    "z": -0.0002713081194087863
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.79008960723877,
                "transform": {
                    "location": {
                        "x": 2870.0009765625,
                        "y": 4242.56103515625,
                        "z": 360.30560302734375
                    },
                    "rotation": {
                        "roll": 0.0017445508856326342,
                        "pitch": -0.37783920764923096,
                        "yaw": -170.77796936035156
                    }
                },
                "velocity": {
                    "x": -8.676664352416992,
                    "y": -1.4061036109924316,
                    "z": -0.06360446661710739
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.271844387054443,
                "transform": {
                    "location": {
                        "x": 2852.7724609375,
                        "y": 4239.7734375,
                        "z": 360.16748046875
                    },
                    "rotation": {
                        "roll": -0.0006103527266532183,
                        "pitch": -0.43953630328178406,
                        "yaw": -170.79931640625
                    }
                },
                "velocity": {
                    "x": -6.190983295440674,
                    "y": -1.002744197845459,
                    "z": -0.04757394641637802
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8998426795005798,
        "expert_target_speed": 8.280897749850842,
        "target_point": [
            8.941650947182396,
            0.022678830918289705
        ],
        "target_point_next": [
            50.10188958285106,
            -8.334014333182278
        ]
    },
    "600": {
        "acceleration": [
            0.31795501708984375,
            0.8587884902954102,
            -0.0032145529985427856
        ],
        "angular_velocity": [
            0.9303418397903442,
            0.06618565320968628,
            0.7821727395057678
        ],
        "forward_vector": [
            -0.9345197677612305,
            -0.35584837198257446,
            -0.006698319222778082
        ],
        "right_vector": [
            0.3558456003665924,
            -0.9345433712005615,
            0.0016431326512247324
        ],
        "location": [
            2896.8427734375,
            4248.44384765625,
            360.4855041503906
        ],
        "rotation": [
            -0.0941467136144638,
            -0.3837883174419403,
            -159.15406799316406
        ],
        "velocity": [
            -7.03456974029541,
            -2.631559371948242,
            -0.04901574179530144
        ],
        "speed": 7.510677476710637,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 29.49860382080078,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2868.005126953125,
                4242.2373046875,
                360.29437255859375
            ],
            "velocity": [
                -6.536938190460205,
                -1.057863712310791,
                -0.04796053469181061
            ],
            "speed_kmh": 23.839757975151784,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.768508434295654,
                "transform": {
                    "location": {
                        "x": 2849.14306640625,
                        "y": 4249.18212890625,
                        "z": 360.1572570800781
                    },
                    "rotation": {
                        "roll": -0.003814701223745942,
                        "pitch": 0.7512046694755554,
                        "yaw": 9.611096382141113
                    }
                },
                "velocity": {
                    "x": 4.6993408203125,
                    "y": 0.8083879947662354,
                    "z": 0.037087466567754745
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.213674545288086,
                "transform": {
                    "location": {
                        "x": 2850.6005859375,
                        "y": 4246.13623046875,
                        "z": 360.1686706542969
                    },
                    "rotation": {
                        "roll": 0.005292356014251709,
                        "pitch": 0.32890090346336365,
                        "yaw": 9.672501564025879
                    }
                },
                "velocity": {
                    "x": 5.136891841888428,
                    "y": 0.8905158638954163,
                    "z": 0.04156390205025673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.046125411987305,
                "transform": {
                    "location": {
                        "x": 2897.796875,
                        "y": 4257.140625,
                        "z": 360.4947814941406
                    },
                    "rotation": {
                        "roll": 0.00011454508057795465,
                        "pitch": 0.392496794462204,
                        "yaw": 9.179244041442871
                    }
                },
                "velocity": {
                    "x": 7.942533493041992,
                    "y": 1.285760521888733,
                    "z": 0.0557740293443203
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044713020324707,
                "transform": {
                    "location": {
                        "x": 2900.894287109375,
                        "y": 4254.34765625,
                        "z": 360.5227355957031
                    },
                    "rotation": {
                        "roll": 7.8409002526314e-06,
                        "pitch": 0.39908793568611145,
                        "yaw": 9.176529884338379
                    }
                },
                "velocity": {
                    "x": 7.941183090209961,
                    "y": 1.285230040550232,
                    "z": 0.05668766796588898
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.416545391082764,
                "transform": {
                    "location": {
                        "x": 2930.409423828125,
                        "y": 4255.6298828125,
                        "z": 360.7267150878906
                    },
                    "rotation": {
                        "roll": -0.0007934648892842233,
                        "pitch": -0.430698037147522,
                        "yaw": -170.8136444091797
                    }
                },
                "velocity": {
                    "x": -7.321134567260742,
                    "y": -1.1845611333847046,
                    "z": -0.05426159128546715
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996607780456543,
                "transform": {
                    "location": {
                        "x": 2940.27294921875,
                        "y": 4264.01123046875,
                        "z": 360.81683349609375
                    },
                    "rotation": {
                        "roll": -0.00021361590188462287,
                        "pitch": 0.4202136993408203,
                        "yaw": 9.191286087036133
                    }
                },
                "velocity": {
                    "x": 7.893716812133789,
                    "y": 1.2772349119186401,
                    "z": 0.060395315289497375
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045656204223633,
                "transform": {
                    "location": {
                        "x": 2944.4208984375,
                        "y": 4261.39013671875,
                        "z": 360.83526611328125
                    },
                    "rotation": {
                        "roll": -0.0008239714079536498,
                        "pitch": 0.42989209294319153,
                        "yaw": 9.196382522583008
                    }
                },
                "velocity": {
                    "x": 7.942026615142822,
                    "y": 1.2857577800750732,
                    "z": 0.060247715562582016
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.461167812347412,
                "transform": {
                    "location": {
                        "x": 2913.517822265625,
                        "y": 4252.89453125,
                        "z": 360.59820556640625
                    },
                    "rotation": {
                        "roll": 0.001970264595001936,
                        "pitch": -0.42910662293434143,
                        "yaw": -170.8119354248047
                    }
                },
                "velocity": {
                    "x": -7.365269660949707,
                    "y": -1.1912356615066528,
                    "z": -0.05275349318981171
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.499212265014648,
                "transform": {
                    "location": {
                        "x": 2870.927001953125,
                        "y": 4246.00341796875,
                        "z": 360.3046875
                    },
                    "rotation": {
                        "roll": -3.052308602491394e-05,
                        "pitch": -0.38296186923980713,
                        "yaw": -170.77923583984375
                    }
                },
                "velocity": {
                    "x": -7.402390956878662,
                    "y": -1.199992060661316,
                    "z": -0.05306694284081459
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001811609254218638,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.00042724638478830457,
                        "pitch": -0.442288875579834,
                        "yaw": -170.70062255859375
                    }
                },
                "velocity": {
                    "x": -1.7700343960314058e-05,
                    "y": 1.3847462696503499e-06,
                    "z": -0.00018028882914222777
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.061521053314209,
                "transform": {
                    "location": {
                        "x": 2850.778564453125,
                        "y": 4242.744140625,
                        "z": 360.1544189453125
                    },
                    "rotation": {
                        "roll": 0.0003401727881282568,
                        "pitch": -0.4545900523662567,
                        "yaw": -170.79747009277344
                    }
                },
                "velocity": {
                    "x": -5.983531475067139,
                    "y": -0.9680246710777283,
                    "z": -0.04811900109052658
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00010283260053256527,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -2.1139532691449858e-05,
                    "y": -2.923426109191496e-05,
                    "z": -9.629652777221054e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.622154712677002,
                "transform": {
                    "location": {
                        "x": 2868.005126953125,
                        "y": 4242.2373046875,
                        "z": 360.29437255859375
                    },
                    "rotation": {
                        "roll": 0.0020304652862250805,
                        "pitch": -0.786953866481781,
                        "yaw": -170.83164978027344
                    }
                },
                "velocity": {
                    "x": -6.536938190460205,
                    "y": -1.057863712310791,
                    "z": -0.04796053469181061
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.466291427612305,
                "transform": {
                    "location": {
                        "x": 2851.171875,
                        "y": 4239.51416015625,
                        "z": 360.1550598144531
                    },
                    "rotation": {
                        "roll": 3.335148601735227e-09,
                        "pitch": -0.43347111344337463,
                        "yaw": -170.79904174804688
                    }
                },
                "velocity": {
                    "x": -6.3829193115234375,
                    "y": -1.0338878631591797,
                    "z": -0.04842410609126091
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6552621126174927,
        "expert_target_speed": 8.212865697423066,
        "target_point": [
            48.18427383325464,
            -8.489001538611731
        ],
        "target_point_next": [
            48.18427383325464,
            -8.489001538611731
        ]
    },
    "605": {
        "acceleration": [
            -0.4767036437988281,
            0.6666898727416992,
            -0.002480223774909973
        ],
        "angular_velocity": [
            0.44509682059288025,
            0.3003862500190735,
            -7.500544548034668
        ],
        "forward_vector": [
            -0.9403430819511414,
            -0.34015318751335144,
            -0.0071142311207950115
        ],
        "right_vector": [
            0.34016847610473633,
            -0.9403639435768127,
            -0.0010228564497083426
        ],
        "location": [
            2895.088623046875,
            4247.806640625,
            360.4731140136719
        ],
        "rotation": [
            0.05860685557126999,
            -0.40761885046958923,
            -160.11326599121094
        ],
        "velocity": [
            -7.043089389801025,
            -2.4645957946777344,
            -0.048917416483163834
        ],
        "speed": 7.461859056821628,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 28.945039749145508,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2866.725830078125,
                4242.033203125,
                360.2865295410156
            ],
            "velocity": [
                -4.994091987609863,
                -0.8083856701850891,
                -0.036151133477687836
            ],
            "speed_kmh": 18.213206967387723,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.457581520080566,
                "transform": {
                    "location": {
                        "x": 2850.447021484375,
                        "y": 4249.4072265625,
                        "z": 360.1677551269531
                    },
                    "rotation": {
                        "roll": -0.0015258826315402985,
                        "pitch": 0.6192659139633179,
                        "yaw": 9.746749877929688
                    }
                },
                "velocity": {
                    "x": 5.377630710601807,
                    "y": 0.9298267364501953,
                    "z": 0.04126480966806412
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.710906982421875,
                "transform": {
                    "location": {
                        "x": 2851.922119140625,
                        "y": 4246.36474609375,
                        "z": 360.1785583496094
                    },
                    "rotation": {
                        "roll": 0.005704987328499556,
                        "pitch": 0.37460169196128845,
                        "yaw": 9.765290260314941
                    }
                },
                "velocity": {
                    "x": 5.626849174499512,
                    "y": 0.9753026962280273,
                    "z": 0.04253698140382767
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.046213150024414,
                "transform": {
                    "location": {
                        "x": 2899.782470703125,
                        "y": 4257.4609375,
                        "z": 360.5085754394531
                    },
                    "rotation": {
                        "roll": -0.0008239746675826609,
                        "pitch": 0.3966905474662781,
                        "yaw": 9.20727252960205
                    }
                },
                "velocity": {
                    "x": 7.9424920082092285,
                    "y": 1.2865469455718994,
                    "z": 0.05619024112820625
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0458402633667,
                "transform": {
                    "location": {
                        "x": 2902.879638671875,
                        "y": 4254.66943359375,
                        "z": 360.53656005859375
                    },
                    "rotation": {
                        "roll": 0.0007496679900214076,
                        "pitch": 0.39834344387054443,
                        "yaw": 9.21094036102295
                    }
                },
                "velocity": {
                    "x": 7.942296981811523,
                    "y": 1.2854186296463013,
                    "z": 0.056248560547828674
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.869923114776611,
                "transform": {
                    "location": {
                        "x": 2928.638671875,
                        "y": 4255.34375,
                        "z": 360.713623046875
                    },
                    "rotation": {
                        "roll": -0.0002136228868039325,
                        "pitch": -0.43200942873954773,
                        "yaw": -170.80868530273438
                    }
                },
                "velocity": {
                    "x": -6.781538486480713,
                    "y": -1.097311019897461,
                    "z": -0.04985923320055008
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056283950805664,
                "transform": {
                    "location": {
                        "x": 2942.25439453125,
                        "y": 4264.33154296875,
                        "z": 360.8317565917969
                    },
                    "rotation": {
                        "roll": -0.000885007088072598,
                        "pitch": 0.4227750301361084,
                        "yaw": 9.191173553466797
                    }
                },
                "velocity": {
                    "x": 7.9526238441467285,
                    "y": 1.2867728471755981,
                    "z": 0.06084326654672623
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078125,
                "transform": {
                    "location": {
                        "x": 2946.41064453125,
                        "y": 4261.71240234375,
                        "z": 360.8503723144531
                    },
                    "rotation": {
                        "roll": 0.0005197392893023789,
                        "pitch": 0.4303155541419983,
                        "yaw": 9.196194648742676
                    }
                },
                "velocity": {
                    "x": 7.974061012268066,
                    "y": 1.2910019159317017,
                    "z": 0.06138654425740242
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.279906272888184,
                "transform": {
                    "location": {
                        "x": 2911.569091796875,
                        "y": 4252.5791015625,
                        "z": 360.5838623046875
                    },
                    "rotation": {
                        "roll": 0.0003002410812769085,
                        "pitch": -0.36990252137184143,
                        "yaw": -170.81272888183594
                    }
                },
                "velocity": {
                    "x": -8.173492431640625,
                    "y": -1.3219201564788818,
                    "z": -0.058254092931747437
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.107880592346191,
                "transform": {
                    "location": {
                        "x": 2868.8369140625,
                        "y": 4245.6650390625,
                        "z": 360.28936767578125
                    },
                    "rotation": {
                        "roll": 0.0006524095078930259,
                        "pitch": -0.3626420497894287,
                        "yaw": -170.7882080078125
                    }
                },
                "velocity": {
                    "x": -8.990238189697266,
                    "y": -1.4577211141586304,
                    "z": -0.06450001895427704
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008320474880747497,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.0005798363126814365,
                        "pitch": -0.4423162043094635,
                        "yaw": -170.70068359375
                    }
                },
                "velocity": {
                    "x": -1.0832995030796155e-05,
                    "y": 6.2100680224830285e-06,
                    "z": -0.000831953773740679
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.915277004241943,
                "transform": {
                    "location": {
                        "x": 2849.315673828125,
                        "y": 4242.5068359375,
                        "z": 360.14288330078125
                    },
                    "rotation": {
                        "roll": 0.0004027901159133762,
                        "pitch": -0.4498567283153534,
                        "yaw": -170.82203674316406
                    }
                },
                "velocity": {
                    "x": -5.83914041519165,
                    "y": -0.9449294209480286,
                    "z": -0.045274876058101654
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006014383397996426,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -1.0042339454230387e-05,
                    "y": 2.3185275210835243e-07,
                    "z": -0.0006013544625602663
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0592241287231445,
                "transform": {
                    "location": {
                        "x": 2866.725830078125,
                        "y": 4242.033203125,
                        "z": 360.2865295410156
                    },
                    "rotation": {
                        "roll": 0.004259125329554081,
                        "pitch": -0.9798588752746582,
                        "yaw": -170.528564453125
                    }
                },
                "velocity": {
                    "x": -4.994091987609863,
                    "y": -0.8083856701850891,
                    "z": -0.036151133477687836
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.982656002044678,
                "transform": {
                    "location": {
                        "x": 2849.63720703125,
                        "y": 4239.265625,
                        "z": 360.1433410644531
                    },
                    "rotation": {
                        "roll": -0.00021362675761338323,
                        "pitch": -0.45083343982696533,
                        "yaw": -170.8013458251953
                    }
                },
                "velocity": {
                    "x": -5.905539035797119,
                    "y": -0.9563144445419312,
                    "z": -0.04735404998064041
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.46229302883148193,
        "expert_target_speed": 8.172521877228787,
        "target_point": [
            46.453333260785946,
            -7.6836962301697405
        ],
        "target_point_next": [
            46.453333260785946,
            -7.6836962301697405
        ]
    },
    "610": {
        "acceleration": [
            -1.1276817321777344,
            0.6127023696899414,
            -0.005420595407485962
        ],
        "angular_velocity": [
            0.2287440299987793,
            0.31952470541000366,
            -4.122472763061523
        ],
        "forward_vector": [
            -0.9489749670028687,
            -0.3152908384799957,
            -0.006172617431730032
        ],
        "right_vector": [
            0.31531527638435364,
            -0.9489806294441223,
            -0.003470242954790592
        ],
        "location": [
            2893.3017578125,
            4247.2099609375,
            360.46026611328125
        ],
        "rotation": [
            0.19883446395397186,
            -0.35366716980934143,
            -161.6212615966797
        ],
        "velocity": [
            -7.275418758392334,
            -2.2914090156555176,
            -0.0499882735311985
        ],
        "speed": 7.627730552857412,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 28.379018783569336,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2865.439208984375,
                4241.82373046875,
                360.2716979980469
            ],
            "velocity": [
                -5.470167636871338,
                -0.8891736268997192,
                -0.03999653831124306
            ],
            "speed_kmh": 19.95158956443666,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.349576950073242,
                "transform": {
                    "location": {
                        "x": 2851.839599609375,
                        "y": 4249.6474609375,
                        "z": 360.1783752441406
                    },
                    "rotation": {
                        "roll": 0.015158378519117832,
                        "pitch": 0.6014869213104248,
                        "yaw": 9.783246040344238
                    }
                },
                "velocity": {
                    "x": 6.259523391723633,
                    "y": 1.0644841194152832,
                    "z": 0.04867919906973839
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.611553192138672,
                "transform": {
                    "location": {
                        "x": 2853.392822265625,
                        "y": 4246.61376953125,
                        "z": 360.1899108886719
                    },
                    "rotation": {
                        "roll": 5.6526896514697e-05,
                        "pitch": 0.3542272448539734,
                        "yaw": 9.598692893981934
                    }
                },
                "velocity": {
                    "x": 6.520068168640137,
                    "y": 1.0948972702026367,
                    "z": 0.050467099994421005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044656753540039,
                "transform": {
                    "location": {
                        "x": 2901.767333984375,
                        "y": 4257.7822265625,
                        "z": 360.52239990234375
                    },
                    "rotation": {
                        "roll": -0.0008850041776895523,
                        "pitch": 0.3961714506149292,
                        "yaw": 9.163759231567383
                    }
                },
                "velocity": {
                    "x": 7.941411018371582,
                    "y": 1.283475637435913,
                    "z": 0.056439075618982315
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045665740966797,
                "transform": {
                    "location": {
                        "x": 2904.865234375,
                        "y": 4254.98974609375,
                        "z": 360.550537109375
                    },
                    "rotation": {
                        "roll": 0.0010816343128681183,
                        "pitch": 0.4013897180557251,
                        "yaw": 9.172178268432617
                    }
                },
                "velocity": {
                    "x": 7.942331790924072,
                    "y": 1.28407621383667,
                    "z": 0.05703398585319519
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.35897970199585,
                "transform": {
                    "location": {
                        "x": 2926.909912109375,
                        "y": 4255.0634765625,
                        "z": 360.70074462890625
                    },
                    "rotation": {
                        "roll": -0.0010986311826854944,
                        "pitch": -0.40942201018333435,
                        "yaw": -170.803466796875
                    }
                },
                "velocity": {
                    "x": -7.26401424407959,
                    "y": -1.1772063970565796,
                    "z": -0.05347616598010063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996260643005371,
                "transform": {
                    "location": {
                        "x": 2944.234619140625,
                        "y": 4264.65185546875,
                        "z": 360.8466796875
                    },
                    "rotation": {
                        "roll": -3.051992098335177e-05,
                        "pitch": 0.4278566837310791,
                        "yaw": 9.191240310668945
                    }
                },
                "velocity": {
                    "x": 7.893375873565674,
                    "y": 1.2772102355957031,
                    "z": 0.0594291090965271
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044854164123535,
                "transform": {
                    "location": {
                        "x": 2948.39990234375,
                        "y": 4262.03466796875,
                        "z": 360.8656921386719
                    },
                    "rotation": {
                        "roll": 0.0009092156542465091,
                        "pitch": 0.43957045674324036,
                        "yaw": 9.196457862854004
                    }
                },
                "velocity": {
                    "x": 7.9412126541137695,
                    "y": 1.2857259511947632,
                    "z": 0.06107350066304207
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.185044288635254,
                "transform": {
                    "location": {
                        "x": 2909.421875,
                        "y": 4252.23193359375,
                        "z": 360.5684814453125
                    },
                    "rotation": {
                        "roll": -0.00036621050094254315,
                        "pitch": -0.3455187678337097,
                        "yaw": -170.80894470214844
                    }
                },
                "velocity": {
                    "x": -9.066885948181152,
                    "y": -1.467158317565918,
                    "z": -0.06368865072727203
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.818377494812012,
                "transform": {
                    "location": {
                        "x": 2866.488037109375,
                        "y": 4245.2841796875,
                        "z": 360.2725830078125
                    },
                    "rotation": {
                        "roll": 0.0005474144709296525,
                        "pitch": -0.38275012373924255,
                        "yaw": -170.79861450195312
                    }
                },
                "velocity": {
                    "x": -9.691926956176758,
                    "y": -1.5691032409667969,
                    "z": -0.07078313827514648
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00014864270633552223,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.0005798363126814365,
                        "pitch": -0.4423162043094635,
                        "yaw": -170.70068359375
                    }
                },
                "velocity": {
                    "x": -1.6522331861779094e-05,
                    "y": 1.6456748198834248e-05,
                    "z": -0.00014680204913020134
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.893764495849609,
                "transform": {
                    "location": {
                        "x": 2847.848388671875,
                        "y": 4242.26953125,
                        "z": 360.1314392089844
                    },
                    "rotation": {
                        "roll": 0.0009303172118961811,
                        "pitch": -0.4411960542201996,
                        "yaw": -170.7951202392578
                    }
                },
                "velocity": {
                    "x": -5.817866802215576,
                    "y": -0.9417400360107422,
                    "z": -0.04482320323586464
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002821401576511562,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -7.758587344142143e-06,
                    "y": 1.5756208085804246e-05,
                    "z": -0.0002815930056385696
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.542108058929443,
                "transform": {
                    "location": {
                        "x": 2865.439208984375,
                        "y": 4241.82373046875,
                        "z": 360.2716979980469
                    },
                    "rotation": {
                        "roll": -0.0029296877328306437,
                        "pitch": -0.3131982982158661,
                        "yaw": -170.6451416015625
                    }
                },
                "velocity": {
                    "x": -5.470167636871338,
                    "y": -0.8891736268997192,
                    "z": -0.03999653831124306
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.645328998565674,
                "transform": {
                    "location": {
                        "x": 2848.21533203125,
                        "y": 4239.03564453125,
                        "z": 360.13226318359375
                    },
                    "rotation": {
                        "roll": 5.691776823368855e-05,
                        "pitch": -0.4492488503456116,
                        "yaw": -170.80296325683594
                    }
                },
                "velocity": {
                    "x": -5.572627544403076,
                    "y": -0.9020103812217712,
                    "z": -0.04404890537261963
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2779406011104584,
        "expert_target_speed": 8.300143449018247,
        "target_point": [
            44.75560150721555,
            -6.46137745637351
        ],
        "target_point_next": [
            44.75560150721555,
            -6.46137745637351
        ]
    },
    "615": {
        "acceleration": [
            -1.3163375854492188,
            0.5730438232421875,
            0.002637803554534912
        ],
        "angular_velocity": [
            0.23920223116874695,
            0.24684765934944153,
            -9.456314086914062
        ],
        "forward_vector": [
            -0.958021342754364,
            -0.2866485118865967,
            -0.005269860848784447
        ],
        "right_vector": [
            0.2866721451282501,
            -0.9580183625221252,
            -0.004459566902369261
        ],
        "location": [
            2891.442626953125,
            4246.64794921875,
            360.447021484375
        ],
        "rotation": [
            0.25551876425743103,
            -0.3019421696662903,
            -163.34234619140625
        ],
        "velocity": [
            -7.600371360778809,
            -2.1574883460998535,
            -0.05284992977976799
        ],
        "speed": 7.900658250127226,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 27.98016929626465,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2863.926513671875,
                4241.57666015625,
                360.2588195800781
            ],
            "velocity": [
                -6.513580799102783,
                -1.0508639812469482,
                -0.04810662195086479
            ],
            "speed_kmh": 23.752734574792694,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.39949893951416,
                "transform": {
                    "location": {
                        "x": 2853.708984375,
                        "y": 4249.96337890625,
                        "z": 360.19281005859375
                    },
                    "rotation": {
                        "roll": 0.015732761472463608,
                        "pitch": 0.8082025647163391,
                        "yaw": 9.61172103881836
                    }
                },
                "velocity": {
                    "x": 8.282770156860352,
                    "y": 1.394012212753296,
                    "z": 0.06353031098842621
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.081750869750977,
                "transform": {
                    "location": {
                        "x": 2855.2353515625,
                        "y": 4246.9228515625,
                        "z": 360.20458984375
                    },
                    "rotation": {
                        "roll": 0.001424528076313436,
                        "pitch": 0.29158759117126465,
                        "yaw": 9.541932106018066
                    }
                },
                "velocity": {
                    "x": 7.970579624176025,
                    "y": 1.3344700336456299,
                    "z": 0.06113921105861664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044567108154297,
                "transform": {
                    "location": {
                        "x": 2903.753173828125,
                        "y": 4258.10205078125,
                        "z": 360.5364074707031
                    },
                    "rotation": {
                        "roll": 7.883923535700887e-05,
                        "pitch": 0.399518221616745,
                        "yaw": 9.195352554321289
                    }
                },
                "velocity": {
                    "x": 7.941339492797852,
                    "y": 1.2833547592163086,
                    "z": 0.05638449639081955
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045514106750488,
                "transform": {
                    "location": {
                        "x": 2906.850830078125,
                        "y": 4255.31103515625,
                        "z": 360.56451416015625
                    },
                    "rotation": {
                        "roll": -0.00021362544794101268,
                        "pitch": 0.4029879570007324,
                        "yaw": 9.207280158996582
                    }
                },
                "velocity": {
                    "x": 7.942075729370117,
                    "y": 1.2847148180007935,
                    "z": 0.056945618242025375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.479841232299805,
                "transform": {
                    "location": {
                        "x": 2924.925048828125,
                        "y": 4254.7421875,
                        "z": 360.68609619140625
                    },
                    "rotation": {
                        "roll": 0.0005160213331691921,
                        "pitch": -0.38876068592071533,
                        "yaw": -170.80062866210938
                    }
                },
                "velocity": {
                    "x": -8.370569229125977,
                    "y": -1.3555861711502075,
                    "z": -0.060433149337768555
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056435585021973,
                "transform": {
                    "location": {
                        "x": 2946.215576171875,
                        "y": 4264.97216796875,
                        "z": 360.86175537109375
                    },
                    "rotation": {
                        "roll": -0.0002136227412847802,
                        "pitch": 0.4266340732574463,
                        "yaw": 9.191529273986816
                    }
                },
                "velocity": {
                    "x": 7.952769756317139,
                    "y": 1.2868168354034424,
                    "z": 0.06095881387591362
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078468322753906,
                "transform": {
                    "location": {
                        "x": 2950.3896484375,
                        "y": 4262.35693359375,
                        "z": 360.8811340332031
                    },
                    "rotation": {
                        "roll": 0.0011515383375808597,
                        "pitch": 0.4438188374042511,
                        "yaw": 9.196434020996094
                    }
                },
                "velocity": {
                    "x": 7.97439432144165,
                    "y": 1.2910654544830322,
                    "z": 0.06193850561976433
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.429459571838379,
                "transform": {
                    "location": {
                        "x": 2906.99560546875,
                        "y": 4251.83935546875,
                        "z": 360.5511169433594
                    },
                    "rotation": {
                        "roll": 0.0009091347455978394,
                        "pitch": -0.3211691379547119,
                        "yaw": -170.8121795654297
                    }
                },
                "velocity": {
                    "x": -10.295424461364746,
                    "y": -1.665114402770996,
                    "z": -0.07252692431211472
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.044785499572754,
                "transform": {
                    "location": {
                        "x": 2864.14501953125,
                        "y": 4244.90478515625,
                        "z": 360.25579833984375
                    },
                    "rotation": {
                        "roll": -0.0002746596292126924,
                        "pitch": -0.4370364546775818,
                        "yaw": -170.81590270996094
                    }
                },
                "velocity": {
                    "x": -8.928495407104492,
                    "y": -1.4441421031951904,
                    "z": -0.06753408908843994
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00010471904533915222,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": -1.3869106624042615e-05,
                    "y": -3.051217618121882e-06,
                    "z": -0.00010375170677434653
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.557403087615967,
                "transform": {
                    "location": {
                        "x": 2846.436279296875,
                        "y": 4242.04052734375,
                        "z": 360.1205749511719
                    },
                    "rotation": {
                        "roll": -0.00045776020851917565,
                        "pitch": -0.4506831765174866,
                        "yaw": -170.82290649414062
                    }
                },
                "velocity": {
                    "x": -5.485874652862549,
                    "y": -0.8876747488975525,
                    "z": -0.044092487543821335
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0008519597467966378,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -1.1006816748704296e-05,
                    "y": -1.2795720067515504e-05,
                    "z": -0.0008517925161868334
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.597981929779053,
                "transform": {
                    "location": {
                        "x": 2863.926513671875,
                        "y": 4241.57666015625,
                        "z": 360.2588195800781
                    },
                    "rotation": {
                        "roll": 0.006072904448956251,
                        "pitch": -0.09652423113584518,
                        "yaw": -170.88665771484375
                    }
                },
                "velocity": {
                    "x": -6.513580799102783,
                    "y": -1.0508639812469482,
                    "z": -0.04810662195086479
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.7806010246276855,
                "transform": {
                    "location": {
                        "x": 2846.800537109375,
                        "y": 4238.806640625,
                        "z": 360.1211242675781
                    },
                    "rotation": {
                        "roll": -0.00015258985513355583,
                        "pitch": -0.44048571586608887,
                        "yaw": -170.80880737304688
                    }
                },
                "velocity": {
                    "x": -5.706226825714111,
                    "y": -0.9232115149497986,
                    "z": -0.044789958745241165
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13273946940898895,
        "expert_target_speed": 8.507341474017739,
        "target_point": [
            42.98726008554232,
            -5.119761548922962
        ],
        "target_point_next": [
            42.98726008554232,
            -5.119761548922962
        ]
    },
    "620": {
        "acceleration": [
            -0.7342910766601562,
            0.7416033744812012,
            0.00322781503200531
        ],
        "angular_velocity": [
            0.08473198860883713,
            -0.11457820236682892,
            -4.086407661437988
        ],
        "forward_vector": [
            -0.9660161137580872,
            -0.2584279179573059,
            -0.005280469544231892
        ],
        "right_vector": [
            0.2584540545940399,
            -0.9660102725028992,
            -0.005064762197434902
        ],
        "location": [
            2889.51025390625,
            4246.125,
            360.4334716796875
        ],
        "rotation": [
            0.2901948094367981,
            -0.3025500476360321,
            -165.02297973632812
        ],
        "velocity": [
            -7.838503837585449,
            -1.9825304746627808,
            -0.05353124812245369
        ],
        "speed": 8.085330512403834,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 27.804094314575195,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2862.131103515625,
                4241.2861328125,
                360.2458190917969
            ],
            "velocity": [
                -7.661754608154297,
                -1.2323307991027832,
                -0.05749156326055527
            ],
            "speed_kmh": 27.93758380522067,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.016180038452148,
                "transform": {
                    "location": {
                        "x": 2855.75048828125,
                        "y": 4250.30615234375,
                        "z": 360.2084655761719
                    },
                    "rotation": {
                        "roll": 0.009901427663862705,
                        "pitch": 0.47820883989334106,
                        "yaw": 9.504414558410645
                    }
                },
                "velocity": {
                    "x": 7.905921936035156,
                    "y": 1.323577880859375,
                    "z": 0.06067001074552536
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.15330982208252,
                "transform": {
                    "location": {
                        "x": 2857.265869140625,
                        "y": 4247.26318359375,
                        "z": 360.2193603515625
                    },
                    "rotation": {
                        "roll": -0.0010375931160524487,
                        "pitch": 0.3958026170730591,
                        "yaw": 9.499375343322754
                    }
                },
                "velocity": {
                    "x": 8.043583869934082,
                    "y": 1.3317394256591797,
                    "z": 0.060707900673151016
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045180320739746,
                "transform": {
                    "location": {
                        "x": 2905.73828125,
                        "y": 4258.4228515625,
                        "z": 360.5503845214844
                    },
                    "rotation": {
                        "roll": 0.0008123021107167006,
                        "pitch": 0.40089109539985657,
                        "yaw": 9.165994644165039
                    }
                },
                "velocity": {
                    "x": 7.9418625831604,
                    "y": 1.283972144126892,
                    "z": 0.05626251921057701
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045202255249023,
                "transform": {
                    "location": {
                        "x": 2908.83642578125,
                        "y": 4255.6328125,
                        "z": 360.5785827636719
                    },
                    "rotation": {
                        "roll": 0.0004017205210402608,
                        "pitch": 0.4048252999782562,
                        "yaw": 9.180119514465332
                    }
                },
                "velocity": {
                    "x": 7.941806316375732,
                    "y": 1.2844444513320923,
                    "z": 0.05647791922092438
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.71676254272461,
                "transform": {
                    "location": {
                        "x": 2922.6943359375,
                        "y": 4254.380859375,
                        "z": 360.669677734375
                    },
                    "rotation": {
                        "roll": -6.103616033215076e-05,
                        "pitch": -0.381377249956131,
                        "yaw": -170.8006134033203
                    }
                },
                "velocity": {
                    "x": -9.59154987335205,
                    "y": -1.5533334016799927,
                    "z": -0.06924904882907867
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995935440063477,
                "transform": {
                    "location": {
                        "x": 2948.1962890625,
                        "y": 4265.29296875,
                        "z": 360.8769836425781
                    },
                    "rotation": {
                        "roll": -0.0003967293887399137,
                        "pitch": 0.4360733926296234,
                        "yaw": 9.191354751586914
                    }
                },
                "velocity": {
                    "x": 7.893046855926514,
                    "y": 1.277178406715393,
                    "z": 0.06008011847734451
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044797897338867,
                "transform": {
                    "location": {
                        "x": 2952.378662109375,
                        "y": 4262.67919921875,
                        "z": 360.8967590332031
                    },
                    "rotation": {
                        "roll": 0.0015664186794310808,
                        "pitch": 0.44670799374580383,
                        "yaw": 9.19626235961914
                    }
                },
                "velocity": {
                    "x": 7.94114351272583,
                    "y": 1.2856740951538086,
                    "z": 0.06364230811595917
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.594804763793945,
                "transform": {
                    "location": {
                        "x": 2904.271240234375,
                        "y": 4251.39892578125,
                        "z": 360.531982421875
                    },
                    "rotation": {
                        "roll": 0.0009654892492108047,
                        "pitch": -0.3163743317127228,
                        "yaw": -170.8131103515625
                    }
                },
                "velocity": {
                    "x": -11.445798873901367,
                    "y": -1.851163387298584,
                    "z": -0.0798969715833664
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.820306777954102,
                "transform": {
                    "location": {
                        "x": 2862.154541015625,
                        "y": 4244.5830078125,
                        "z": 360.2414245605469
                    },
                    "rotation": {
                        "roll": 0.00036802320391871035,
                        "pitch": -0.4895947575569153,
                        "yaw": -170.80111694335938
                    }
                },
                "velocity": {
                    "x": -6.732655048370361,
                    "y": -1.0887714624404907,
                    "z": -0.05013426020741463
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010451334528625011,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": -5.053430868429132e-06,
                    "y": -1.624662399990484e-05,
                    "z": -0.001044995035044849
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.41378927230835,
                "transform": {
                    "location": {
                        "x": 2845.09033203125,
                        "y": 4241.8232421875,
                        "z": 360.1099853515625
                    },
                    "rotation": {
                        "roll": -0.0014343233779072762,
                        "pitch": -0.4476642310619354,
                        "yaw": -170.80007934570312
                    }
                },
                "velocity": {
                    "x": -5.344176292419434,
                    "y": -0.8644161224365234,
                    "z": -0.0409696102142334
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003725167771335691,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -8.682012776262127e-06,
                    "y": 2.323674016224686e-05,
                    "z": -0.0003716899664141238
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.760439872741699,
                "transform": {
                    "location": {
                        "x": 2862.131103515625,
                        "y": 4241.2861328125,
                        "z": 360.2458190917969
                    },
                    "rotation": {
                        "roll": 0.008291766047477722,
                        "pitch": -0.14636412262916565,
                        "yaw": -171.0559539794922
                    }
                },
                "velocity": {
                    "x": -7.661754608154297,
                    "y": -1.2323307991027832,
                    "z": -0.05749156326055527
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.413290023803711,
                "transform": {
                    "location": {
                        "x": 2845.41650390625,
                        "y": 4238.58251953125,
                        "z": 360.1103515625
                    },
                    "rotation": {
                        "roll": 0.00048406096175312996,
                        "pitch": -0.4464416205883026,
                        "yaw": -170.80996704101562
                    }
                },
                "velocity": {
                    "x": -5.343649864196777,
                    "y": -0.8645251393318176,
                    "z": -0.04138284921646118
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.027132228016853333,
        "expert_target_speed": 8.6011736793565,
        "target_point": [
            41.11704486647783,
            -3.86262890079177
        ],
        "target_point_next": [
            41.11704486647783,
            -3.86262890079177
        ]
    },
    "625": {
        "acceleration": [
            0.9742259979248047,
            1.02081298828125,
            0.004074200987815857
        ],
        "angular_velocity": [
            0.04992423951625824,
            -0.5153071284294128,
            -8.640564918518066
        ],
        "forward_vector": [
            -0.9728826284408569,
            -0.23120582103729248,
            -0.006578993517905474
        ],
        "right_vector": [
            0.23124010860919952,
            -0.9728837609291077,
            -0.005030795466154814
        ],
        "location": [
            2887.546875,
            4245.650390625,
            360.4200744628906
        ],
        "rotation": [
            0.2882508337497711,
            -0.37695127725601196,
            -166.6316375732422
        ],
        "velocity": [
            -7.79998779296875,
            -1.761746883392334,
            -0.05317099019885063
        ],
        "speed": 7.996471825224179,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 27.662752151489258,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2860.2802734375,
                4240.9892578125,
                360.2351989746094
            ],
            "velocity": [
                -6.252702713012695,
                -1.0071393251419067,
                -0.046869147568941116
            ],
            "speed_kmh": 22.80048498403191,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.887063026428223,
                "transform": {
                    "location": {
                        "x": 2857.68701171875,
                        "y": 4250.62841796875,
                        "z": 360.22308349609375
                    },
                    "rotation": {
                        "roll": 0.012829641811549664,
                        "pitch": 0.4175977408885956,
                        "yaw": 9.450189590454102
                    }
                },
                "velocity": {
                    "x": 7.781164169311523,
                    "y": 1.286751627922058,
                    "z": 0.05928635597229004
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.927277565002441,
                "transform": {
                    "location": {
                        "x": 2859.239013671875,
                        "y": 4247.5888671875,
                        "z": 360.23370361328125
                    },
                    "rotation": {
                        "roll": -0.00042724632658064365,
                        "pitch": 0.44155120849609375,
                        "yaw": 9.388046264648438
                    }
                },
                "velocity": {
                    "x": 7.822048187255859,
                    "y": 1.2859951257705688,
                    "z": 0.059250831604003906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045812606811523,
                "transform": {
                    "location": {
                        "x": 2907.723876953125,
                        "y": 4258.7431640625,
                        "z": 360.56439208984375
                    },
                    "rotation": {
                        "roll": -3.051648491236847e-05,
                        "pitch": 0.40103453397750854,
                        "yaw": 9.206438064575195
                    }
                },
                "velocity": {
                    "x": 7.942121982574463,
                    "y": 1.2863128185272217,
                    "z": 0.0566101148724556
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044918060302734,
                "transform": {
                    "location": {
                        "x": 2910.822021484375,
                        "y": 4255.9541015625,
                        "z": 360.5926513671875
                    },
                    "rotation": {
                        "roll": 0.00021599017782136798,
                        "pitch": 0.40778958797454834,
                        "yaw": 9.209988594055176
                    }
                },
                "velocity": {
                    "x": 7.941242694854736,
                    "y": 1.286156177520752,
                    "z": 0.05642453208565712
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.765817642211914,
                "transform": {
                    "location": {
                        "x": 2920.1572265625,
                        "y": 4253.97021484375,
                        "z": 360.65130615234375
                    },
                    "rotation": {
                        "roll": 0.0006256834021769464,
                        "pitch": -0.3844030201435089,
                        "yaw": -170.80072021484375
                    }
                },
                "velocity": {
                    "x": -10.627080917358398,
                    "y": -1.7210742235183716,
                    "z": -0.07663693279027939
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056394577026367,
                "transform": {
                    "location": {
                        "x": 2950.177001953125,
                        "y": 4265.6142578125,
                        "z": 360.8924255371094
                    },
                    "rotation": {
                        "roll": 9.394787775818259e-05,
                        "pitch": 0.43950897455215454,
                        "yaw": 9.196854591369629
                    }
                },
                "velocity": {
                    "x": 7.952604293823242,
                    "y": 1.2875677347183228,
                    "z": 0.06115531921386719
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078265190124512,
                "transform": {
                    "location": {
                        "x": 2954.368408203125,
                        "y": 4263.0009765625,
                        "z": 360.91259765625
                    },
                    "rotation": {
                        "roll": 0.0014874208718538284,
                        "pitch": 0.4567142426967621,
                        "yaw": 9.191536903381348
                    }
                },
                "velocity": {
                    "x": 7.97432279586792,
                    "y": 1.2901370525360107,
                    "z": 0.06397172808647156
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.56529712677002,
                "transform": {
                    "location": {
                        "x": 2901.33251953125,
                        "y": 4250.92333984375,
                        "z": 360.5114440917969
                    },
                    "rotation": {
                        "roll": -0.00030517709092237055,
                        "pitch": -0.31839609146118164,
                        "yaw": -170.8081512451172
                    }
                },
                "velocity": {
                    "x": -12.403669357299805,
                    "y": -2.007020950317383,
                    "z": -0.08689969033002853
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.528642654418945,
                "transform": {
                    "location": {
                        "x": 2860.6689453125,
                        "y": 4244.34326171875,
                        "z": 360.2302551269531
                    },
                    "rotation": {
                        "roll": -0.00030518113635480404,
                        "pitch": -0.4742405116558075,
                        "yaw": -170.78988647460938
                    }
                },
                "velocity": {
                    "x": -5.4574689865112305,
                    "y": -0.8833122253417969,
                    "z": -0.0409805104136467
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00037501633050851524,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": -1.1868625733768567e-05,
                    "y": -4.856306986766867e-06,
                    "z": -0.0003747970040421933
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.042038917541504,
                "transform": {
                    "location": {
                        "x": 2843.77294921875,
                        "y": 4241.609375,
                        "z": 360.09979248046875
                    },
                    "rotation": {
                        "roll": -0.00012207336840219796,
                        "pitch": -0.4487570524215698,
                        "yaw": -170.86227416992188
                    }
                },
                "velocity": {
                    "x": -4.977112770080566,
                    "y": -0.8055644631385803,
                    "z": -0.03963755816221237
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.392272628843784e-05,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -1.3171732462069485e-05,
                    "y": -4.484430064621847e-06,
                    "z": -3.0937786505091935e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.333467960357666,
                "transform": {
                    "location": {
                        "x": 2860.2802734375,
                        "y": 4240.9892578125,
                        "z": 360.2351989746094
                    },
                    "rotation": {
                        "roll": -3.0517081540892832e-05,
                        "pitch": -0.5380276441574097,
                        "yaw": -170.93399047851562
                    }
                },
                "velocity": {
                    "x": -6.252702713012695,
                    "y": -1.0071393251419067,
                    "z": -0.046869147568941116
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6997430324554443,
                "transform": {
                    "location": {
                        "x": 2844.1640625,
                        "y": 4238.3798828125,
                        "z": 360.1006164550781
                    },
                    "rotation": {
                        "roll": -0.00012207034160383046,
                        "pitch": -0.4673146903514862,
                        "yaw": -170.808837890625
                    }
                },
                "velocity": {
                    "x": -3.6521248817443848,
                    "y": -0.5908364653587341,
                    "z": -0.031545329838991165
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02247382141649723,
        "expert_target_speed": 8.516297146875997,
        "target_point": [
            39.189361742540946,
            -2.7146248813063822
        ],
        "target_point_next": [
            39.189361742540946,
            -2.7146248813063822
        ]
    },
    "630": {
        "acceleration": [
            1.2131309509277344,
            0.9555459022521973,
            -0.012460201978683472
        ],
        "angular_velocity": [
            0.004116282798349857,
            -0.3059386610984802,
            -2.476290464401245
        ],
        "forward_vector": [
            -0.9781211018562317,
            -0.20786137878894806,
            -0.008526341058313847
        ],
        "right_vector": [
            0.20790638029575348,
            -0.9781370759010315,
            -0.004774330649524927
        ],
        "location": [
            2885.638671875,
            4245.2392578125,
            360.4073486328125
        ],
        "rotation": [
            0.2735599875450134,
            -0.4885292649269104,
            -168.00250244140625
        ],
        "velocity": [
            -7.494550704956055,
            -1.504281997680664,
            -0.05282910540699959
        ],
        "speed": 7.644027380753122,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 26.45368766784668,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2859.548583984375,
                4240.87158203125,
                360.2392578125
            ],
            "velocity": [
                -0.842286229133606,
                -0.13612167537212372,
                -0.007285652216523886
            ],
            "speed_kmh": 3.071684643313969,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.18464469909668,
                "transform": {
                    "location": {
                        "x": 2859.683349609375,
                        "y": 4250.95751953125,
                        "z": 360.2381896972656
                    },
                    "rotation": {
                        "roll": 0.008537890389561653,
                        "pitch": 0.4671849012374878,
                        "yaw": 9.340130805969238
                    }
                },
                "velocity": {
                    "x": 8.076179504394531,
                    "y": 1.3266711235046387,
                    "z": 0.060624465346336365
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028870582580566,
                "transform": {
                    "location": {
                        "x": 2861.20458984375,
                        "y": 4247.912109375,
                        "z": 360.2486267089844
                    },
                    "rotation": {
                        "roll": 0.0009982534684240818,
                        "pitch": 0.408172070980072,
                        "yaw": 9.34434986114502
                    }
                },
                "velocity": {
                    "x": 7.922414779663086,
                    "y": 1.3017226457595825,
                    "z": 0.06024809554219246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.043522834777832,
                "transform": {
                    "location": {
                        "x": 2909.709228515625,
                        "y": 4259.06591796875,
                        "z": 360.5785217285156
                    },
                    "rotation": {
                        "roll": -0.001953128958120942,
                        "pitch": 0.4040603041648865,
                        "yaw": 9.179459571838379
                    }
                },
                "velocity": {
                    "x": 7.939951419830322,
                    "y": 1.285388469696045,
                    "z": 0.05665309727191925
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045830726623535,
                "transform": {
                    "location": {
                        "x": 2912.807861328125,
                        "y": 4256.2744140625,
                        "z": 360.6068420410156
                    },
                    "rotation": {
                        "roll": 7.187887240434065e-05,
                        "pitch": 0.4069563150405884,
                        "yaw": 9.176800727844238
                    }
                },
                "velocity": {
                    "x": 7.942484378814697,
                    "y": 1.2841901779174805,
                    "z": 0.05655631050467491
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.691515922546387,
                "transform": {
                    "location": {
                        "x": 2917.3818359375,
                        "y": 4253.52099609375,
                        "z": 360.6313171386719
                    },
                    "rotation": {
                        "roll": 0.0008488167659379542,
                        "pitch": -0.38415029644966125,
                        "yaw": -170.80792236328125
                    }
                },
                "velocity": {
                    "x": -11.54108715057373,
                    "y": -1.867645263671875,
                    "z": -0.08220140635967255
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995372295379639,
                "transform": {
                    "location": {
                        "x": 2952.157470703125,
                        "y": 4265.935546875,
                        "z": 360.9079284667969
                    },
                    "rotation": {
                        "roll": 0.00018001827993430197,
                        "pitch": 0.4453146457672119,
                        "yaw": 9.196944236755371
                    }
                },
                "velocity": {
                    "x": 7.8923468589782715,
                    "y": 1.2778342962265015,
                    "z": 0.06306142359972
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2956.400634765625,
                        "y": 4263.3115234375,
                        "z": 360.9299011230469
                    },
                    "rotation": {
                        "roll": 3.335164366902177e-09,
                        "pitch": 0.46790891885757446,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.623894691467285,
                "transform": {
                    "location": {
                        "x": 2898.087158203125,
                        "y": 4250.39794921875,
                        "z": 360.48876953125
                    },
                    "rotation": {
                        "roll": 0.00022688212629873306,
                        "pitch": -0.316224068403244,
                        "yaw": -170.80738830566406
                    }
                },
                "velocity": {
                    "x": -13.448623657226562,
                    "y": -2.1763734817504883,
                    "z": -0.09187033772468567
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.468562126159668,
                "transform": {
                    "location": {
                        "x": 2859.336181640625,
                        "y": 4244.12744140625,
                        "z": 360.21978759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.434379518032074,
                        "yaw": -170.78732299804688
                    }
                },
                "velocity": {
                    "x": -5.398073673248291,
                    "y": -0.8742256760597229,
                    "z": -0.041277043521404266
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012254951288923621,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": -3.3401697692170274e-06,
                    "y": -4.278775122656953e-06,
                    "z": -0.001225483138114214
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010707559995353222,
                "transform": {
                    "location": {
                        "x": 2843.260009765625,
                        "y": 4241.513671875,
                        "z": 360.09674072265625
                    },
                    "rotation": {
                        "roll": 0.01612035371363163,
                        "pitch": -0.584500253200531,
                        "yaw": -172.2781219482422
                    }
                },
                "velocity": {
                    "x": 0.0001301605225307867,
                    "y": -0.0008928408497013152,
                    "z": 0.0005765517125837505
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0007197542581707239,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -1.3332366506801918e-05,
                    "y": -7.385322533082217e-06,
                    "z": -0.0007195928483270109
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.853245735168457,
                "transform": {
                    "location": {
                        "x": 2859.548583984375,
                        "y": 4240.87158203125,
                        "z": 360.2392578125
                    },
                    "rotation": {
                        "roll": 0.004648023284971714,
                        "pitch": -1.7632678747177124,
                        "yaw": -170.88963317871094
                    }
                },
                "velocity": {
                    "x": -0.842286229133606,
                    "y": -0.13612167537212372,
                    "z": -0.007285652216523886
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0016507018590345979,
                "transform": {
                    "location": {
                        "x": 2843.937744140625,
                        "y": 4238.34326171875,
                        "z": 360.0992126464844
                    },
                    "rotation": {
                        "roll": 0.0010678883409127593,
                        "pitch": -0.5217854380607605,
                        "yaw": -170.8095703125
                    }
                },
                "velocity": {
                    "x": 6.403125735232607e-05,
                    "y": -4.604447531164624e-05,
                    "z": 0.0016488167457282543
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.056257329881191254,
        "expert_target_speed": 8.150163677324684,
        "target_point": [
            37.291106224992745,
            -1.781779478379085
        ],
        "target_point_next": [
            37.291106224992745,
            -1.781779478379085
        ]
    },
    "635": {
        "acceleration": [
            1.356363296508789,
            0.8064007759094238,
            0.024358630180358887
        ],
        "angular_velocity": [
            -0.06776626408100128,
            -0.12008798122406006,
            -7.287692546844482
        ],
        "forward_vector": [
            -0.9822831153869629,
            -0.1871758997440338,
            -0.00922762043774128
        ],
        "right_vector": [
            0.1872192919254303,
            -0.9823096394538879,
            -0.00408000685274601
        ],
        "location": [
            2883.805908203125,
            4244.8857421875,
            360.3947448730469
        ],
        "rotation": [
            0.23377777636051178,
            -0.5287112593650818,
            -169.21151733398438
        ],
        "velocity": [
            -7.184924602508545,
            -1.2975672483444214,
            -0.050231728702783585
        ],
        "speed": 7.301152121939981,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 24.87041664123535,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2859.26953125,
                4240.82666015625,
                360.228271484375
            ],
            "velocity": [
                -1.4023263454437256,
                -0.22567832469940186,
                -0.00861596129834652
            ],
            "speed_kmh": 5.113424742498219,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.963442802429199,
                "transform": {
                    "location": {
                        "x": 2861.67431640625,
                        "y": 4251.28466796875,
                        "z": 360.25286865234375
                    },
                    "rotation": {
                        "roll": 0.007220122497528791,
                        "pitch": 0.4020453989505768,
                        "yaw": 9.333161354064941
                    }
                },
                "velocity": {
                    "x": 7.858575820922852,
                    "y": 1.2867107391357422,
                    "z": 0.05983584374189377
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.076912879943848,
                "transform": {
                    "location": {
                        "x": 2863.196533203125,
                        "y": 4248.23876953125,
                        "z": 360.2633972167969
                    },
                    "rotation": {
                        "roll": -0.0009460428263992071,
                        "pitch": 0.41614973545074463,
                        "yaw": 9.302777290344238
                    }
                },
                "velocity": {
                    "x": 7.971442699432373,
                    "y": 1.2995901107788086,
                    "z": 0.06068629026412964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045281410217285,
                "transform": {
                    "location": {
                        "x": 2911.694580078125,
                        "y": 4259.3876953125,
                        "z": 360.5926513671875
                    },
                    "rotation": {
                        "roll": 1.3634038623422384e-05,
                        "pitch": 0.4056585729122162,
                        "yaw": 9.212663650512695
                    }
                },
                "velocity": {
                    "x": 7.941658973693848,
                    "y": 1.2858576774597168,
                    "z": 0.056401222944259644
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045214653015137,
                "transform": {
                    "location": {
                        "x": 2914.79296875,
                        "y": 4256.59619140625,
                        "z": 360.62103271484375
                    },
                    "rotation": {
                        "roll": -0.00012206938117742538,
                        "pitch": 0.40901902318000793,
                        "yaw": 9.21081829071045
                    }
                },
                "velocity": {
                    "x": 7.941705226898193,
                    "y": 1.2851403951644897,
                    "z": 0.05661424621939659
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.293364524841309,
                "transform": {
                    "location": {
                        "x": 2914.39453125,
                        "y": 4253.03759765625,
                        "z": 360.6099853515625
                    },
                    "rotation": {
                        "roll": 0.0007775556296110153,
                        "pitch": -0.3901062309741974,
                        "yaw": -170.80946350097656
                    }
                },
                "velocity": {
                    "x": -12.13523006439209,
                    "y": -1.9635107517242432,
                    "z": -0.08731178194284439
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2954.2080078125,
                        "y": 4266.19873046875,
                        "z": 360.921875
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2958.463134765625,
                        "y": 4263.60205078125,
                        "z": 360.9488830566406
                    },
                    "rotation": {
                        "roll": 3.335164366902177e-09,
                        "pitch": 0.46790891885757446,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.501710891723633,
                "transform": {
                    "location": {
                        "x": 2894.611572265625,
                        "y": 4249.83544921875,
                        "z": 360.46490478515625
                    },
                    "rotation": {
                        "roll": 0.0006032158271409571,
                        "pitch": -0.326325923204422,
                        "yaw": -170.807373046875
                    }
                },
                "velocity": {
                    "x": -14.315135955810547,
                    "y": -2.3166489601135254,
                    "z": -0.09811433404684067
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.538974761962891,
                "transform": {
                    "location": {
                        "x": 2857.861572265625,
                        "y": 4243.888671875,
                        "z": 360.2083435058594
                    },
                    "rotation": {
                        "roll": -0.0005188003997318447,
                        "pitch": -0.4033772945404053,
                        "yaw": -170.76536560058594
                    }
                },
                "velocity": {
                    "x": -6.454716205596924,
                    "y": -1.045130968093872,
                    "z": -0.050332341343164444
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000877762446179986,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.89056396484375
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": -9.827986104937736e-06,
                    "y": 7.022172212600708e-06,
                    "z": -0.0008776793256402016
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0018293967004865408,
                "transform": {
                    "location": {
                        "x": 2843.259033203125,
                        "y": 4241.513671875,
                        "z": 360.0957336425781
                    },
                    "rotation": {
                        "roll": 0.0117658581584692,
                        "pitch": -0.4750942587852478,
                        "yaw": -172.2781219482422
                    }
                },
                "velocity": {
                    "x": 8.655004057800397e-05,
                    "y": 2.8656384529313073e-05,
                    "z": 0.0018271234584972262
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002933204814326018,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -1.5440135030075908e-05,
                    "y": -1.8807928427122533e-05,
                    "z": -0.00029230935615487397
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4203957319259644,
                "transform": {
                    "location": {
                        "x": 2859.26953125,
                        "y": 4240.82666015625,
                        "z": 360.228271484375
                    },
                    "rotation": {
                        "roll": -0.0020751934498548508,
                        "pitch": -0.6733404994010925,
                        "yaw": -170.92539978027344
                    }
                },
                "velocity": {
                    "x": -1.4023263454437256,
                    "y": -0.22567832469940186,
                    "z": -0.00861596129834652
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015450534410774708,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": -1.598388007550966e-05,
                    "y": 7.88619727245532e-05,
                    "z": 0.0015429568011313677
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05649036169052124,
        "expert_target_speed": 7.869913933514604,
        "target_point": [
            35.453857292919785,
            -0.9987653146245776
        ],
        "target_point_next": [
            35.453857292919785,
            -0.9987653146245776
        ]
    },
    "640": {
        "acceleration": [
            1.6396808624267578,
            0.7430648803710938,
            0.0056090205907821655
        ],
        "angular_velocity": [
            -0.05024436116218567,
            -0.1411871612071991,
            -0.669582188129425
        ],
        "forward_vector": [
            -0.9852833151817322,
            -0.1706484705209732,
            -0.009795389138162136
        ],
        "right_vector": [
            0.17068904638290405,
            -0.9853188991546631,
            -0.003459844272583723
        ],
        "location": [
            2882.060302734375,
            4244.58251953125,
            360.38287353515625
        ],
        "rotation": [
            0.1982443928718567,
            -0.5612434148788452,
            -170.1739959716797
        ],
        "velocity": [
            -6.795650005340576,
            -1.108491063117981,
            -0.04832751303911209
        ],
        "speed": 6.885463777560507,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 23.49945640563965,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2858.8740234375,
                4240.76220703125,
                360.2214660644531
            ],
            "velocity": [
                -1.5846644639968872,
                -0.25620758533477783,
                -0.011902255937457085
            ],
            "speed_kmh": 5.779032192589422,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035014152526855,
                "transform": {
                    "location": {
                        "x": 2863.6416015625,
                        "y": 4251.60546875,
                        "z": 360.26751708984375
                    },
                    "rotation": {
                        "roll": 0.005024068057537079,
                        "pitch": 0.4290929436683655,
                        "yaw": 9.259203910827637
                    }
                },
                "velocity": {
                    "x": 7.930152893066406,
                    "y": 1.29252290725708,
                    "z": 0.059313878417015076
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9734721183776855,
                "transform": {
                    "location": {
                        "x": 2865.17333984375,
                        "y": 4248.56103515625,
                        "z": 360.2780456542969
                    },
                    "rotation": {
                        "roll": 0.0008106462773866951,
                        "pitch": 0.4181373417377472,
                        "yaw": 9.272379875183105
                    }
                },
                "velocity": {
                    "x": 7.869078159332275,
                    "y": 1.2847635746002197,
                    "z": 0.0570233054459095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045550346374512,
                "transform": {
                    "location": {
                        "x": 2913.679931640625,
                        "y": 4259.7099609375,
                        "z": 360.6068420410156
                    },
                    "rotation": {
                        "roll": 0.00017783282964956015,
                        "pitch": 0.4055083096027374,
                        "yaw": 9.180466651916504
                    }
                },
                "velocity": {
                    "x": 7.942263126373291,
                    "y": 1.2837592363357544,
                    "z": 0.05741126090288162
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046004295349121,
                "transform": {
                    "location": {
                        "x": 2916.778564453125,
                        "y": 4256.91748046875,
                        "z": 360.63531494140625
                    },
                    "rotation": {
                        "roll": 0.00020738896273542196,
                        "pitch": 0.41163498163223267,
                        "yaw": 9.179252624511719
                    }
                },
                "velocity": {
                    "x": 7.942566871643066,
                    "y": 1.2847399711608887,
                    "z": 0.05707816034555435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.06635856628418,
                "transform": {
                    "location": {
                        "x": 2911.2587890625,
                        "y": 4252.5302734375,
                        "z": 360.5875244140625
                    },
                    "rotation": {
                        "roll": 0.0004185586585663259,
                        "pitch": -0.3858646750450134,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": -12.89830207824707,
                    "y": -2.08687686920166,
                    "z": -0.09207528084516525
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2956.267822265625,
                        "y": 4266.5107421875,
                        "z": 360.93780517578125
                    },
                    "rotation": {
                        "roll": 3.335164366902177e-09,
                        "pitch": 0.46790891885757446,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2960.5244140625,
                        "y": 4263.9013671875,
                        "z": 360.9675598144531
                    },
                    "rotation": {
                        "roll": 3.335164366902177e-09,
                        "pitch": 0.46790891885757446,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.278376579284668,
                "transform": {
                    "location": {
                        "x": 2890.92529296875,
                        "y": 4249.23876953125,
                        "z": 360.4396057128906
                    },
                    "rotation": {
                        "roll": -0.00030517412233166397,
                        "pitch": -0.3309909403324127,
                        "yaw": -170.8101043701172
                    }
                },
                "velocity": {
                    "x": -15.082222938537598,
                    "y": -2.438185930252075,
                    "z": -0.10294138640165329
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.06320333480835,
                "transform": {
                    "location": {
                        "x": 2856.1455078125,
                        "y": 4243.6103515625,
                        "z": 360.1952209472656
                    },
                    "rotation": {
                        "roll": -0.0014038068475201726,
                        "pitch": -0.4116145074367523,
                        "yaw": -170.7647247314453
                    }
                },
                "velocity": {
                    "x": -6.972146987915039,
                    "y": -1.1292401552200317,
                    "z": -0.05315948277711868
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003595047164708376,
                "transform": {
                    "location": {
                        "x": 2843.259033203125,
                        "y": 4241.513671875,
                        "z": 360.0954895019531
                    },
                    "rotation": {
                        "roll": 0.009743782691657543,
                        "pitch": -0.44564250111579895,
                        "yaw": -172.2781524658203
                    }
                },
                "velocity": {
                    "x": -1.4423355423787143e-05,
                    "y": 9.841923019848764e-05,
                    "z": 0.0003454696270637214
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009089197847060859,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -5.784854238299886e-06,
                    "y": 2.2071972125559114e-06,
                    "z": -0.0009088987135328352
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.605286717414856,
                "transform": {
                    "location": {
                        "x": 2858.8740234375,
                        "y": 4240.76220703125,
                        "z": 360.2214660644531
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.17651256918907166,
                        "yaw": -170.97377014160156
                    }
                },
                "velocity": {
                    "x": -1.5846644639968872,
                    "y": -0.25620758533477783,
                    "z": -0.011902255937457085
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04280745983123779,
        "expert_target_speed": 7.519504784570887,
        "target_point": [
            33.693886458993866,
            -0.4039725840783053
        ],
        "target_point_next": [
            33.693886458993866,
            -0.4039725840783053
        ]
    },
    "645": {
        "acceleration": [
            0.012645721435546875,
            0.20641088485717773,
            0.00411108136177063
        ],
        "angular_velocity": [
            -0.2655881643295288,
            0.3910711705684662,
            -5.106685638427734
        ],
        "forward_vector": [
            -0.9873073101043701,
            -0.15849217772483826,
            -0.010226905345916748
        ],
        "right_vector": [
            0.1585227996110916,
            -0.9873527884483337,
            -0.002252034842967987
        ],
        "location": [
            2880.426513671875,
            4244.3203125,
            360.37158203125
        ],
        "rotation": [
            0.1290389448404312,
            -0.5859687328338623,
            -170.880126953125
        ],
        "velocity": [
            -6.4018120765686035,
            -0.9906280040740967,
            -0.044846467673778534
        ],
        "speed": 6.478004454008614,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 22.220815658569336,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2858.502685546875,
                4240.70263671875,
                360.2205505371094
            ],
            "velocity": [
                -1.576735496520996,
                -0.25538524985313416,
                -0.012234182097017765
            ],
            "speed_kmh": 5.750391378548335,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.07125473022461,
                "transform": {
                    "location": {
                        "x": 2865.634521484375,
                        "y": 4251.93017578125,
                        "z": 360.28216552734375
                    },
                    "rotation": {
                        "roll": 0.0029566651210188866,
                        "pitch": 0.42254963517189026,
                        "yaw": 9.263691902160645
                    }
                },
                "velocity": {
                    "x": 7.9660964012146,
                    "y": 1.2973248958587646,
                    "z": 0.05836955085396767
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065497398376465,
                "transform": {
                    "location": {
                        "x": 2867.15283203125,
                        "y": 4248.8837890625,
                        "z": 360.2924499511719
                    },
                    "rotation": {
                        "roll": 0.000249541481025517,
                        "pitch": 0.4020659029483795,
                        "yaw": 9.252535820007324
                    }
                },
                "velocity": {
                    "x": 7.961034774780273,
                    "y": 1.2926673889160156,
                    "z": 0.05645879730582237
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.043829917907715,
                "transform": {
                    "location": {
                        "x": 2915.665283203125,
                        "y": 4260.0302734375,
                        "z": 360.62103271484375
                    },
                    "rotation": {
                        "roll": 0.0014763089129701257,
                        "pitch": 0.4087662994861603,
                        "yaw": 9.206034660339355
                    }
                },
                "velocity": {
                    "x": 7.940371036529541,
                    "y": 1.2847307920455933,
                    "z": 0.05627942830324173
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045110702514648,
                "transform": {
                    "location": {
                        "x": 2918.764404296875,
                        "y": 4257.23974609375,
                        "z": 360.6496276855469
                    },
                    "rotation": {
                        "roll": 0.0012190168490633368,
                        "pitch": 0.41224971413612366,
                        "yaw": 9.2127685546875
                    }
                },
                "velocity": {
                    "x": 7.941558837890625,
                    "y": 1.2854139804840088,
                    "z": 0.05629519373178482
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.634623527526855,
                "transform": {
                    "location": {
                        "x": 2907.958251953125,
                        "y": 4251.99609375,
                        "z": 360.5641174316406
                    },
                    "rotation": {
                        "roll": 0.0010878955945372581,
                        "pitch": -0.3854685425758362,
                        "yaw": -170.80540466308594
                    }
                },
                "velocity": {
                    "x": -13.459097862243652,
                    "y": -2.178708791732788,
                    "z": -0.0943010151386261
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4716,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2958.325439453125,
                        "y": 4266.8369140625,
                        "z": 360.9543762207031
                    },
                    "rotation": {
                        "roll": 3.335164366902177e-09,
                        "pitch": 0.46790891885757446,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.113556861877441,
                "transform": {
                    "location": {
                        "x": 2887.2744140625,
                        "y": 4248.6484375,
                        "z": 360.41522216796875
                    },
                    "rotation": {
                        "roll": -0.00018310629820916802,
                        "pitch": -0.4323987662792206,
                        "yaw": -170.81443786621094
                    }
                },
                "velocity": {
                    "x": -13.932212829589844,
                    "y": -2.25315523147583,
                    "z": -0.09609689563512802
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.93307638168335,
                "transform": {
                    "location": {
                        "x": 2854.547119140625,
                        "y": 4243.3515625,
                        "z": 360.18359375
                    },
                    "rotation": {
                        "roll": -0.0008239803719334304,
                        "pitch": -0.4793631434440613,
                        "yaw": -170.7888641357422
                    }
                },
                "velocity": {
                    "x": -4.869537353515625,
                    "y": -0.7882869839668274,
                    "z": -0.03806271776556969
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0015154605498537421,
                "transform": {
                    "location": {
                        "x": 2843.259033203125,
                        "y": 4241.513671875,
                        "z": 360.095458984375
                    },
                    "rotation": {
                        "roll": 0.010204415768384933,
                        "pitch": -0.4417424499988556,
                        "yaw": -172.2781982421875
                    }
                },
                "velocity": {
                    "x": -2.1996720533934422e-05,
                    "y": -1.5885568416251772e-07,
                    "z": 0.0015153008280321956
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004045362293254584,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -1.2274756954866461e-05,
                    "y": 9.578540812071878e-06,
                    "z": -0.0004042364889755845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.597330927848816,
                "transform": {
                    "location": {
                        "x": 2858.502685546875,
                        "y": 4240.70263671875,
                        "z": 360.2205505371094
                    },
                    "rotation": {
                        "roll": 0.0010332008823752403,
                        "pitch": -0.42282283306121826,
                        "yaw": -170.95736694335938
                    }
                },
                "velocity": {
                    "x": -1.576735496520996,
                    "y": -0.25538524985313416,
                    "z": -0.012234182097017765
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.017538219690322876,
        "expert_target_speed": 7.1611394814671225,
        "target_point": [
            32.04161007730692,
            0.01136670220582392
        ],
        "target_point_next": [
            32.04161007730692,
            0.01136670220582392
        ]
    },
    "650": {
        "acceleration": [
            4.313240051269531,
            0.6762087345123291,
            0.02562202513217926
        ],
        "angular_velocity": [
            -0.17138464748859406,
            -0.49975350499153137,
            -0.3495445251464844
        ],
        "forward_vector": [
            -0.9880419373512268,
            -0.15345627069473267,
            -0.014973318204283714
        ],
        "right_vector": [
            0.1534913033246994,
            -0.9881492257118225,
            -0.0012111039832234383
        ],
        "location": [
            2879.028076171875,
            4244.10595703125,
            360.3629150390625
        ],
        "rotation": [
            0.06939895451068878,
            -0.8579400181770325,
            -171.17172241210938
        ],
        "velocity": [
            -4.9280877113342285,
            -0.7427110075950623,
            -0.03496907278895378
        ],
        "speed": 4.983740375602075,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 21.272916793823242,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2858.04248046875,
                4240.62451171875,
                360.2168273925781
            ],
            "velocity": [
                -2.0516138076782227,
                -0.32899802923202515,
                -0.015114697627723217
            ],
            "speed_kmh": 7.480369800778445,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.001775741577148,
                "transform": {
                    "location": {
                        "x": 2867.614990234375,
                        "y": 4252.25244140625,
                        "z": 360.2965393066406
                    },
                    "rotation": {
                        "roll": 0.002103996928781271,
                        "pitch": 0.40229812264442444,
                        "yaw": 9.226210594177246
                    }
                },
                "velocity": {
                    "x": 7.8980889320373535,
                    "y": 1.282727837562561,
                    "z": 0.056685712188482285
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997465133666992,
                "transform": {
                    "location": {
                        "x": 2869.135009765625,
                        "y": 4249.2060546875,
                        "z": 360.30670166015625
                    },
                    "rotation": {
                        "roll": 0.0004573172773234546,
                        "pitch": 0.40599325299263,
                        "yaw": 9.233890533447266
                    }
                },
                "velocity": {
                    "x": 7.89363956451416,
                    "y": 1.283266305923462,
                    "z": 0.05593873932957649
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044916152954102,
                "transform": {
                    "location": {
                        "x": 2917.650634765625,
                        "y": 4260.35107421875,
                        "z": 360.6353759765625
                    },
                    "rotation": {
                        "roll": 0.00021226487297099084,
                        "pitch": 0.40931272506713867,
                        "yaw": 9.17027759552002
                    }
                },
                "velocity": {
                    "x": 7.941504955291748,
                    "y": 1.284508466720581,
                    "z": 0.05671951174736023
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045591354370117,
                "transform": {
                    "location": {
                        "x": 2920.75,
                        "y": 4257.560546875,
                        "z": 360.6640625
                    },
                    "rotation": {
                        "roll": -0.00045776143088005483,
                        "pitch": 0.41531646251678467,
                        "yaw": 9.177167892456055
                    }
                },
                "velocity": {
                    "x": 7.942023277282715,
                    "y": 1.2855274677276611,
                    "z": 0.056709181517362595
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.691206932067871,
                "transform": {
                    "location": {
                        "x": 2904.56982421875,
                        "y": 4251.447265625,
                        "z": 360.5403747558594
                    },
                    "rotation": {
                        "roll": 0.0013546972768381238,
                        "pitch": -0.39373305439949036,
                        "yaw": -170.80274963378906
                    }
                },
                "velocity": {
                    "x": -13.514893531799316,
                    "y": -2.188093662261963,
                    "z": -0.09513634443283081
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.781143188476562,
                "transform": {
                    "location": {
                        "x": 2883.870849609375,
                        "y": 4248.09814453125,
                        "z": 360.3917236328125
                    },
                    "rotation": {
                        "roll": 0.0007184529677033424,
                        "pitch": -0.41867008805274963,
                        "yaw": -170.8120574951172
                    }
                },
                "velocity": {
                    "x": -13.60371208190918,
                    "y": -2.202338457107544,
                    "z": -0.09282832592725754
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010210603941231966,
                "transform": {
                    "location": {
                        "x": 2854.127197265625,
                        "y": 4243.28369140625,
                        "z": 360.18121337890625
                    },
                    "rotation": {
                        "roll": -6.10381321166642e-05,
                        "pitch": -0.5979284048080444,
                        "yaw": -170.7958526611328
                    }
                },
                "velocity": {
                    "x": 0.00011625297338468954,
                    "y": 8.874408376868814e-05,
                    "z": 0.001010531559586525
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003624352684710175,
                "transform": {
                    "location": {
                        "x": 2843.259033203125,
                        "y": 4241.513671875,
                        "z": 360.095458984375
                    },
                    "rotation": {
                        "roll": 0.010373244993388653,
                        "pitch": -0.43994611501693726,
                        "yaw": -172.27821350097656
                    }
                },
                "velocity": {
                    "x": -1.8022357835434377e-05,
                    "y": 1.1056661605834961e-05,
                    "z": 0.0003618180053308606
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.0216686354833655e-05,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -1.3525635040423367e-05,
                    "y": -1.9697099560289644e-06,
                    "z": -2.694857175811194e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.077880382537842,
                "transform": {
                    "location": {
                        "x": 2858.04248046875,
                        "y": 4240.62451171875,
                        "z": 360.2168273925781
                    },
                    "rotation": {
                        "roll": 0.009353158995509148,
                        "pitch": -0.3981931805610657,
                        "yaw": -171.41668701171875
                    }
                },
                "velocity": {
                    "x": -2.0516138076782227,
                    "y": -0.32899802923202515,
                    "z": -0.015114697627723217
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00010664569708751515,
        "expert_target_speed": 5.899333727597412,
        "target_point": [
            30.62636942998646,
            0.17725687931050338
        ],
        "target_point_next": [
            30.62636942998646,
            0.17725687931050338
        ]
    },
    "655": {
        "acceleration": [
            1.0773468017578125,
            0.24029135704040527,
            0.0267854705452919
        ],
        "angular_velocity": [
            -0.1885387897491455,
            0.8859491944313049,
            -0.45457661151885986
        ],
        "forward_vector": [
            -0.9884641170501709,
            -0.1508214771747589,
            -0.013840589672327042
        ],
        "right_vector": [
            0.15084439516067505,
            -0.9885573387145996,
            -0.0006210118881426752
        ],
        "location": [
            2877.908935546875,
            4243.9375,
            360.3545227050781
        ],
        "rotation": [
            0.03558477386832237,
            -0.793032705783844,
            -171.3246307373047
        ],
        "velocity": [
            -4.252415180206299,
            -0.6321136951446533,
            -0.029147762805223465
        ],
        "speed": 4.299139749814885,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.62837028503418,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2857.5615234375,
                4240.54736328125,
                360.2149963378906
            ],
            "velocity": [
                -0.23737016320228577,
                -0.041269220411777496,
                -0.0013882636558264494
            ],
            "speed_kmh": 0.8673659699898172,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.051307678222656,
                "transform": {
                    "location": {
                        "x": 2869.595458984375,
                        "y": 4252.57373046875,
                        "z": 360.3107604980469
                    },
                    "rotation": {
                        "roll": 0.0005740146152675152,
                        "pitch": 0.41757041215896606,
                        "yaw": 9.23121452331543
                    }
                },
                "velocity": {
                    "x": 7.947159290313721,
                    "y": 1.2895900011062622,
                    "z": 0.05635319650173187
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.053109169006348,
                "transform": {
                    "location": {
                        "x": 2871.114990234375,
                        "y": 4249.52685546875,
                        "z": 360.3210144042969
                    },
                    "rotation": {
                        "roll": 0.0005305435042828321,
                        "pitch": 0.404975563287735,
                        "yaw": 9.229144096374512
                    }
                },
                "velocity": {
                    "x": 7.948694705963135,
                    "y": 1.2913569211959839,
                    "z": 0.05672810599207878
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044645309448242,
                "transform": {
                    "location": {
                        "x": 2919.63623046875,
                        "y": 4260.67138671875,
                        "z": 360.64971923828125
                    },
                    "rotation": {
                        "roll": -6.103639316279441e-05,
                        "pitch": 0.4125707149505615,
                        "yaw": 9.2105073928833
                    }
                },
                "velocity": {
                    "x": 7.94083309173584,
                    "y": 1.2869709730148315,
                    "z": 0.056486986577510834
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044595718383789,
                "transform": {
                    "location": {
                        "x": 2922.7353515625,
                        "y": 4257.8818359375,
                        "z": 360.6784973144531
                    },
                    "rotation": {
                        "roll": 0.0004444541991688311,
                        "pitch": 0.41539159417152405,
                        "yaw": 9.206962585449219
                    }
                },
                "velocity": {
                    "x": 7.941177845001221,
                    "y": 1.2844942808151245,
                    "z": 0.0573340505361557
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.209325790405273,
                "transform": {
                    "location": {
                        "x": 2901.2333984375,
                        "y": 4250.9072265625,
                        "z": 360.51708984375
                    },
                    "rotation": {
                        "roll": 4.03251287934836e-05,
                        "pitch": -0.4043266773223877,
                        "yaw": -170.80259704589844
                    }
                },
                "velocity": {
                    "x": -13.039201736450195,
                    "y": -2.1112053394317627,
                    "z": -0.09121695905923843
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.436944961547852,
                "transform": {
                    "location": {
                        "x": 2880.482666015625,
                        "y": 4247.55029296875,
                        "z": 360.3683776855469
                    },
                    "rotation": {
                        "roll": -0.00033569513470865786,
                        "pitch": -0.4125365614891052,
                        "yaw": -170.8082733154297
                    }
                },
                "velocity": {
                    "x": -13.26412296295166,
                    "y": -2.1461849212646484,
                    "z": -0.09177742898464203
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.854053258895874,
                "transform": {
                    "location": {
                        "x": 2853.9892578125,
                        "y": 4243.2607421875,
                        "z": 360.1788330078125
                    },
                    "rotation": {
                        "roll": -6.103662599343807e-05,
                        "pitch": -0.44247329235076904,
                        "yaw": -170.8195343017578
                    }
                },
                "velocity": {
                    "x": -0.843092679977417,
                    "y": -0.13627420365810394,
                    "z": -0.0055777644738554955
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010816718713613227,
                "transform": {
                    "location": {
                        "x": 2843.259033203125,
                        "y": 4241.513671875,
                        "z": 360.095458984375
                    },
                    "rotation": {
                        "roll": 0.010373244993388653,
                        "pitch": -0.43994611501693726,
                        "yaw": -172.27821350097656
                    }
                },
                "velocity": {
                    "x": -1.297779363085283e-05,
                    "y": -1.0560396731307264e-05,
                    "z": 0.00010686531459214166
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00058934953995049,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -8.716731827007607e-06,
                    "y": -8.083507054834627e-07,
                    "z": -0.0005892845219932497
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.24093498289585114,
                "transform": {
                    "location": {
                        "x": 2857.5615234375,
                        "y": 4240.54736328125,
                        "z": 360.2149963378906
                    },
                    "rotation": {
                        "roll": 0.009925738908350468,
                        "pitch": -0.6145598888397217,
                        "yaw": -171.40072631835938
                    }
                },
                "velocity": {
                    "x": -0.23737016320228577,
                    "y": -0.041269220411777496,
                    "z": -0.0013882636558264494
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01417227741330862,
        "expert_target_speed": 5.245260116253636,
        "target_point": [
            29.494041709986316,
            0.2612560204472478
        ],
        "target_point_next": [
            29.494041709986316,
            0.2612560204472478
        ]
    },
    "660": {
        "acceleration": [
            0.06392478942871094,
            0.022460222244262695,
            0.00266246497631073
        ],
        "angular_velocity": [
            -0.11509159207344055,
            0.69571852684021,
            -0.6609814763069153
        ],
        "forward_vector": [
            -0.9888355731964111,
            -0.14865872263908386,
            -0.010238111019134521
        ],
        "right_vector": [
            0.1486702263355255,
            -0.9888867735862732,
            -0.0003678776847664267
        ],
        "location": [
            2876.864501953125,
            4243.7822265625,
            360.34661865234375
        ],
        "rotation": [
            0.021078942343592644,
            -0.5866107940673828,
            -171.45034790039062
        ],
        "velocity": [
            -4.131142616271973,
            -0.6116132736206055,
            -0.028813080862164497
        ],
        "speed": 4.176171705335803,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.74382781982422,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2857.392333984375,
                4240.52099609375,
                360.21307373046875
            ],
            "velocity": [
                -1.2732532024383545,
                -0.20446786284446716,
                -0.009880227968096733
            ],
            "speed_kmh": 4.642574353303448,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037290573120117,
                "transform": {
                    "location": {
                        "x": 2871.58203125,
                        "y": 4252.89599609375,
                        "z": 360.324951171875
                    },
                    "rotation": {
                        "roll": 2.621084604470525e-05,
                        "pitch": 0.4076324999332428,
                        "yaw": 9.19925594329834
                    }
                },
                "velocity": {
                    "x": 7.9334306716918945,
                    "y": 1.2866673469543457,
                    "z": 0.056574705988168716
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998535633087158,
                "transform": {
                    "location": {
                        "x": 2873.09521484375,
                        "y": 4249.84814453125,
                        "z": 360.3349914550781
                    },
                    "rotation": {
                        "roll": -0.0016174294287338853,
                        "pitch": 0.39653342962265015,
                        "yaw": 9.219583511352539
                    }
                },
                "velocity": {
                    "x": 7.895280361175537,
                    "y": 1.2798124551773071,
                    "z": 0.05655514448881149
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045007705688477,
                "transform": {
                    "location": {
                        "x": 2921.62109375,
                        "y": 4260.99365234375,
                        "z": 360.6641845703125
                    },
                    "rotation": {
                        "roll": 0.00011124691081931815,
                        "pitch": 0.4125434160232544,
                        "yaw": 9.183298110961914
                    }
                },
                "velocity": {
                    "x": 7.941757678985596,
                    "y": 1.2834928035736084,
                    "z": 0.05730672553181648
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045771598815918,
                "transform": {
                    "location": {
                        "x": 2924.720947265625,
                        "y": 4258.20263671875,
                        "z": 360.6929931640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4170786440372467,
                        "yaw": 9.17579174041748
                    }
                },
                "velocity": {
                    "x": 7.942225933074951,
                    "y": 1.2853927612304688,
                    "z": 0.057053279131650925
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.475983619689941,
                "transform": {
                    "location": {
                        "x": 2898.0478515625,
                        "y": 4250.3916015625,
                        "z": 360.4950256347656
                    },
                    "rotation": {
                        "roll": -0.00033569493098184466,
                        "pitch": -0.407898873090744,
                        "yaw": -170.80259704589844
                    }
                },
                "velocity": {
                    "x": -12.315300941467285,
                    "y": -1.9940202236175537,
                    "z": -0.08614645153284073
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.863449096679688,
                "transform": {
                    "location": {
                        "x": 2877.36669921875,
                        "y": 4247.04638671875,
                        "z": 360.34716796875
                    },
                    "rotation": {
                        "roll": 0.00031637423671782017,
                        "pitch": -0.4795202314853668,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -11.710829734802246,
                    "y": -1.8950165510177612,
                    "z": -0.08237314224243164
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.279896855354309,
                "transform": {
                    "location": {
                        "x": 2853.70556640625,
                        "y": 4243.21484375,
                        "z": 360.1764221191406
                    },
                    "rotation": {
                        "roll": 7.179890235420316e-05,
                        "pitch": -0.41470858454704285,
                        "yaw": -170.8161163330078
                    }
                },
                "velocity": {
                    "x": -1.2635799646377563,
                    "y": -0.20349790155887604,
                    "z": -0.00950860045850277
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4703,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010225237347185612,
                "transform": {
                    "location": {
                        "x": 2843.259033203125,
                        "y": 4241.513671875,
                        "z": 360.095458984375
                    },
                    "rotation": {
                        "roll": 0.010373244993388653,
                        "pitch": -0.43994611501693726,
                        "yaw": -172.27821350097656
                    }
                },
                "velocity": {
                    "x": -2.3216603949549608e-05,
                    "y": 4.060221726831514e-06,
                    "z": 0.001022252137772739
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00013795714767184108,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -1.1754259503504727e-05,
                    "y": 2.2979498680797406e-05,
                    "z": -0.00013552105519920588
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2896039485931396,
                "transform": {
                    "location": {
                        "x": 2857.392333984375,
                        "y": 4240.52099609375,
                        "z": 360.21307373046875
                    },
                    "rotation": {
                        "roll": 0.006465296261012554,
                        "pitch": -0.5387789607048035,
                        "yaw": -171.3496551513672
                    }
                },
                "velocity": {
                    "x": -1.2732532024383545,
                    "y": -0.20446786284446716,
                    "z": -0.009880227968096733
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03438028693199158,
        "expert_target_speed": 5.1217203012228225,
        "target_point": [
            28.437486225936805,
            0.3277014101036384
        ],
        "target_point_next": [
            28.437486225936805,
            0.3277014101036384
        ]
    },
    "665": {
        "acceleration": [
            -0.71929931640625,
            -0.07929205894470215,
            0.012270547449588776
        ],
        "angular_velocity": [
            -0.05717215687036514,
            0.48689618706703186,
            -0.13199029862880707
        ],
        "forward_vector": [
            -0.9890811443328857,
            -0.14717508852481842,
            -0.007611200679093599
        ],
        "right_vector": [
            0.14718152582645416,
            -0.989109456539154,
            -0.00029022793751209974
        ],
        "location": [
            2875.818115234375,
            4243.6279296875,
            360.3387451171875
        ],
        "rotation": [
            0.01662931777536869,
            -0.43609389662742615,
            -171.5364990234375
        ],
        "velocity": [
            -4.254230976104736,
            -0.6236811876296997,
            -0.029314588755369186
        ],
        "speed": 4.299704573787861,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.151039123535156,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2856.933349609375,
                4240.4482421875,
                360.20623779296875
            ],
            "velocity": [
                -2.3557217121124268,
                -0.3789496123790741,
                -0.017776621505618095
            ],
            "speed_kmh": 8.589862227113047,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.6322126388549805,
                "transform": {
                    "location": {
                        "x": 2913.264892578125,
                        "y": 4252.955078125,
                        "z": 360.8016662597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.40487992763519287,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -4.129472732543945,
                    "y": -0.6682059168815613,
                    "z": -1.9895597696304321
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02704906463623,
                "transform": {
                    "location": {
                        "x": 2873.562744140625,
                        "y": 4253.216796875,
                        "z": 360.33905029296875
                    },
                    "rotation": {
                        "roll": 0.0010221917182207108,
                        "pitch": 0.39741453528404236,
                        "yaw": 9.215349197387695
                    }
                },
                "velocity": {
                    "x": 7.923576354980469,
                    "y": 1.2834782600402832,
                    "z": 0.05593093857169151
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056934356689453,
                "transform": {
                    "location": {
                        "x": 2875.076416015625,
                        "y": 4250.169921875,
                        "z": 360.3489685058594
                    },
                    "rotation": {
                        "roll": -0.0004577634099405259,
                        "pitch": 0.3912195563316345,
                        "yaw": 9.2051420211792
                    }
                },
                "velocity": {
                    "x": 7.952991008758545,
                    "y": 1.2887499332427979,
                    "z": 0.0569850318133831
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045679092407227,
                "transform": {
                    "location": {
                        "x": 2923.606689453125,
                        "y": 4261.3154296875,
                        "z": 360.67864990234375
                    },
                    "rotation": {
                        "roll": 0.0005666569340974092,
                        "pitch": 0.41337668895721436,
                        "yaw": 9.214216232299805
                    }
                },
                "velocity": {
                    "x": 7.94183349609375,
                    "y": 1.2872194051742554,
                    "z": 0.05742696672677994
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045561790466309,
                "transform": {
                    "location": {
                        "x": 2926.706298828125,
                        "y": 4258.52392578125,
                        "z": 360.7074890136719
                    },
                    "rotation": {
                        "roll": -0.0015258778585121036,
                        "pitch": 0.4199336767196655,
                        "yaw": 9.211215019226074
                    }
                },
                "velocity": {
                    "x": 7.941847324371338,
                    "y": 1.2863835096359253,
                    "z": 0.05783119052648544
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.101641654968262,
                "transform": {
                    "location": {
                        "x": 2895.14404296875,
                        "y": 4249.92138671875,
                        "z": 360.47503662109375
                    },
                    "rotation": {
                        "roll": 0.00033865708974190056,
                        "pitch": -0.42040494084358215,
                        "yaw": -170.8025360107422
                    }
                },
                "velocity": {
                    "x": -10.958661079406738,
                    "y": -1.7743998765945435,
                    "z": -0.07547582685947418
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.312665939331055,
                "transform": {
                    "location": {
                        "x": 2874.639892578125,
                        "y": 4246.6044921875,
                        "z": 360.32818603515625
                    },
                    "rotation": {
                        "roll": 0.0002588664647191763,
                        "pitch": -0.49447834491729736,
                        "yaw": -170.7940673828125
                    }
                },
                "velocity": {
                    "x": -10.179540634155273,
                    "y": -1.650139570236206,
                    "z": -0.07123320549726486
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.15863333642482758,
                "transform": {
                    "location": {
                        "x": 2853.647705078125,
                        "y": 4243.2080078125,
                        "z": 360.1763916015625
                    },
                    "rotation": {
                        "roll": -0.0011291552800685167,
                        "pitch": -0.46010884642601013,
                        "yaw": -170.6172332763672
                    }
                },
                "velocity": {
                    "x": -0.15655960142612457,
                    "y": -0.025546984747052193,
                    "z": -0.0009900855366140604
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0007165350252762437,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -1.1382400771253742e-05,
                    "y": -1.5268902643583715e-05,
                    "z": -0.000716281880158931
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.386072874069214,
                "transform": {
                    "location": {
                        "x": 2856.933349609375,
                        "y": 4240.4482421875,
                        "z": 360.20623779296875
                    },
                    "rotation": {
                        "roll": -0.0029602055437862873,
                        "pitch": -0.13482792675495148,
                        "yaw": -171.23211669921875
                    }
                },
                "velocity": {
                    "x": -2.3557217121124268,
                    "y": -0.3789496123790741,
                    "z": -0.017776621505618095
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05421829596161842,
        "expert_target_speed": 5.231333554983872,
        "target_point": [
            27.379260525914347,
            0.37185898472861023
        ],
        "target_point_next": [
            27.379260525914347,
            0.37185898472861023
        ]
    },
    "670": {
        "acceleration": [
            -0.7590198516845703,
            -0.08848309516906738,
            -0.009130872786045074
        ],
        "angular_velocity": [
            0.03230107203125954,
            0.17744900286197662,
            -0.4706915616989136
        ],
        "forward_vector": [
            -0.989303708076477,
            -0.1457371562719345,
            -0.0062254262156784534
        ],
        "right_vector": [
            0.14574173092842102,
            -0.9893226027488708,
            -0.0002868042793124914
        ],
        "location": [
            2874.729248046875,
            4243.46826171875,
            360.3308410644531
        ],
        "rotation": [
            0.0164329931139946,
            -0.35669293999671936,
            -171.619873046875
        ],
        "velocity": [
            -4.444053649902344,
            -0.6466208696365356,
            -0.03002847172319889
        ],
        "speed": 4.490849740556886,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.3832950592041,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2856.604736328125,
                4240.39697265625,
                360.2092590332031
            ],
            "velocity": [
                -0.006026381626725197,
                -0.0010957299964502454,
                -0.0008246722863987088
            ],
            "speed_kmh": 0.02224962638210892,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.123842716217041,
                "transform": {
                    "location": {
                        "x": 2912.25146484375,
                        "y": 4252.7841796875,
                        "z": 360.527099609375
                    },
                    "rotation": {
                        "roll": -0.007049560081213713,
                        "pitch": -0.40530338883399963,
                        "yaw": -170.5607452392578
                    }
                },
                "velocity": {
                    "x": -4.059810161590576,
                    "y": -0.717183530330658,
                    "z": 0.09830670803785324
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044020652770996,
                "transform": {
                    "location": {
                        "x": 2875.546142578125,
                        "y": 4253.53857421875,
                        "z": 360.3528747558594
                    },
                    "rotation": {
                        "roll": 0.00023486686404794455,
                        "pitch": 0.4013214111328125,
                        "yaw": 9.189743041992188
                    }
                },
                "velocity": {
                    "x": 7.9402756690979,
                    "y": 1.2865232229232788,
                    "z": 0.05604516714811325
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996325969696045,
                "transform": {
                    "location": {
                        "x": 2877.05712890625,
                        "y": 4250.49072265625,
                        "z": 360.36279296875
                    },
                    "rotation": {
                        "roll": -0.0005187997594475746,
                        "pitch": 0.3935418128967285,
                        "yaw": 9.194490432739258
                    }
                },
                "velocity": {
                    "x": 7.8934245109558105,
                    "y": 1.2774723768234253,
                    "z": 0.05601521208882332
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044374465942383,
                "transform": {
                    "location": {
                        "x": 2925.592041015625,
                        "y": 4261.63623046875,
                        "z": 360.6932067871094
                    },
                    "rotation": {
                        "roll": 2.3962991690495983e-05,
                        "pitch": 0.41747480630874634,
                        "yaw": 9.169364929199219
                    }
                },
                "velocity": {
                    "x": 7.941258907318115,
                    "y": 1.282614827156067,
                    "z": 0.0571514293551445
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045866012573242,
                "transform": {
                    "location": {
                        "x": 2928.69189453125,
                        "y": 4258.845703125,
                        "z": 360.7221374511719
                    },
                    "rotation": {
                        "roll": -0.0011596658732742071,
                        "pitch": 0.4203571379184723,
                        "yaw": 9.179558753967285
                    }
                },
                "velocity": {
                    "x": 7.942265510559082,
                    "y": 1.285730242729187,
                    "z": 0.0572340190410614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.687640190124512,
                "transform": {
                    "location": {
                        "x": 2892.58642578125,
                        "y": 4249.50732421875,
                        "z": 360.45745849609375
                    },
                    "rotation": {
                        "roll": -0.0013122552772983909,
                        "pitch": -0.4203161597251892,
                        "yaw": -170.80670166015625
                    }
                },
                "velocity": {
                    "x": -9.56309700012207,
                    "y": -1.5469791889190674,
                    "z": -0.06637053936719894
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.93539047241211,
                "transform": {
                    "location": {
                        "x": 2872.27294921875,
                        "y": 4246.2216796875,
                        "z": 360.3114318847656
                    },
                    "rotation": {
                        "roll": -0.00012207080726511776,
                        "pitch": -0.4939250946044922,
                        "yaw": -170.79623413085938
                    }
                },
                "velocity": {
                    "x": -8.820441246032715,
                    "y": -1.427202820777893,
                    "z": -0.06415550410747528
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.675325870513916,
                "transform": {
                    "location": {
                        "x": 2853.55029296875,
                        "y": 4243.19189453125,
                        "z": 360.1752624511719
                    },
                    "rotation": {
                        "roll": -0.0017395011382177472,
                        "pitch": -0.42330095171928406,
                        "yaw": -170.64842224121094
                    }
                },
                "velocity": {
                    "x": -0.6666030883789062,
                    "y": -0.1080780103802681,
                    "z": -0.004947862587869167
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00031421976746059954,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": -9.186937859340105e-06,
                    "y": 2.145179496437777e-05,
                    "z": -0.00031335200765170157
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006180451717227697,
                "transform": {
                    "location": {
                        "x": 2856.604736328125,
                        "y": 4240.39697265625,
                        "z": 360.2092590332031
                    },
                    "rotation": {
                        "roll": 0.006569250486791134,
                        "pitch": -0.8059691190719604,
                        "yaw": -171.07891845703125
                    }
                },
                "velocity": {
                    "x": -0.006026381626725197,
                    "y": -0.0010957299964502454,
                    "z": -0.0008246722863987088
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07512306421995163,
        "expert_target_speed": 5.344437442163319,
        "target_point": [
            26.27817927779555,
            0.4124188890235705
        ],
        "target_point_next": [
            26.27817927779555,
            0.4124188890235705
        ]
    },
    "675": {
        "acceleration": [
            -0.4411029815673828,
            -0.06357669830322266,
            0.0027686357498168945
        ],
        "angular_velocity": [
            -0.0676911324262619,
            -0.04766925424337387,
            -0.0033035301603376865
        ],
        "forward_vector": [
            -0.9894289970397949,
            -0.1448935717344284,
            -0.006006919778883457
        ],
        "right_vector": [
            0.14489705860614777,
            -0.989446759223938,
            -0.0001455404853913933
        ],
        "location": [
            2873.596923828125,
            4243.30322265625,
            360.3229064941406
        ],
        "rotation": [
            0.008339006453752518,
            -0.34417322278022766,
            -171.66873168945312
        ],
        "velocity": [
            -4.592634677886963,
            -0.6698228120803833,
            -0.033136799931526184
        ],
        "speed": 4.6412235330905105,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 17.455657958984375,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2856.39111328125,
                4240.36279296875,
                360.20465087890625
            ],
            "velocity": [
                -1.3395097255706787,
                -0.21626240015029907,
                -0.01069605816155672
            ],
            "speed_kmh": 4.88483008569951,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.104161739349365,
                "transform": {
                    "location": {
                        "x": 2911.239013671875,
                        "y": 4252.60791015625,
                        "z": 360.57269287109375
                    },
                    "rotation": {
                        "roll": -0.0028381305746734142,
                        "pitch": -0.40362316370010376,
                        "yaw": -170.26840209960938
                    }
                },
                "velocity": {
                    "x": -4.0421977043151855,
                    "y": -0.7019203305244446,
                    "z": 0.10994911193847656
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03229808807373,
                "transform": {
                    "location": {
                        "x": 2877.530029296875,
                        "y": 4253.859375,
                        "z": 360.36676025390625
                    },
                    "rotation": {
                        "roll": 0.00033152560354210436,
                        "pitch": 0.3973940312862396,
                        "yaw": 9.210620880126953
                    }
                },
                "velocity": {
                    "x": 7.928840160369873,
                    "y": 1.2838317155838013,
                    "z": 0.05558125302195549
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05700969696045,
                "transform": {
                    "location": {
                        "x": 2879.038330078125,
                        "y": 4250.81103515625,
                        "z": 360.3766174316406
                    },
                    "rotation": {
                        "roll": 0.0001270584762096405,
                        "pitch": 0.39127418398857117,
                        "yaw": 9.18958854675293
                    }
                },
                "velocity": {
                    "x": 7.95340633392334,
                    "y": 1.286706566810608,
                    "z": 0.05592847615480423
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045995712280273,
                "transform": {
                    "location": {
                        "x": 2927.577392578125,
                        "y": 4261.95703125,
                        "z": 360.707763671875
                    },
                    "rotation": {
                        "roll": 0.0005770095158368349,
                        "pitch": 0.4177206754684448,
                        "yaw": 9.205161094665527
                    }
                },
                "velocity": {
                    "x": 7.942525863647461,
                    "y": 1.2849129438400269,
                    "z": 0.05765761062502861
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045631408691406,
                "transform": {
                    "location": {
                        "x": 2930.677490234375,
                        "y": 4259.1669921875,
                        "z": 360.7367858886719
                    },
                    "rotation": {
                        "roll": 0.0002650739043019712,
                        "pitch": 0.4230072498321533,
                        "yaw": 9.211551666259766
                    }
                },
                "velocity": {
                    "x": 7.941982746124268,
                    "y": 1.2859662771224976,
                    "z": 0.05823001638054848
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.146775245666504,
                "transform": {
                    "location": {
                        "x": 2890.302734375,
                        "y": 4249.13818359375,
                        "z": 360.44158935546875
                    },
                    "rotation": {
                        "roll": -0.0012512232642620802,
                        "pitch": -0.40533071756362915,
                        "yaw": -170.80886840820312
                    }
                },
                "velocity": {
                    "x": -9.029132843017578,
                    "y": -1.4609876871109009,
                    "z": -0.06153873726725578
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.806831359863281,
                "transform": {
                    "location": {
                        "x": 2870.37158203125,
                        "y": 4245.91357421875,
                        "z": 360.2979736328125
                    },
                    "rotation": {
                        "roll": 0.0003717511717695743,
                        "pitch": -0.5340251326560974,
                        "yaw": -170.78378295898438
                    }
                },
                "velocity": {
                    "x": -6.719175815582275,
                    "y": -1.0878002643585205,
                    "z": -0.04820166155695915
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1691246032714844,
                "transform": {
                    "location": {
                        "x": 2853.317138671875,
                        "y": 4243.15380859375,
                        "z": 360.1734313964844
                    },
                    "rotation": {
                        "roll": -0.0011291519040241838,
                        "pitch": -0.41580140590667725,
                        "yaw": -170.70516967773438
                    }
                },
                "velocity": {
                    "x": -1.1540693044662476,
                    "y": -0.18683600425720215,
                    "z": -0.008295049890875816
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.356897234916687,
                "transform": {
                    "location": {
                        "x": 2856.39111328125,
                        "y": 4240.36279296875,
                        "z": 360.20465087890625
                    },
                    "rotation": {
                        "roll": 9.059614239959046e-05,
                        "pitch": -0.44713830947875977,
                        "yaw": -171.04562377929688
                    }
                },
                "velocity": {
                    "x": -1.3395097255706787,
                    "y": -0.21626240015029907,
                    "z": -0.01069605816155672
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09151557832956314,
        "expert_target_speed": 5.459894897184441,
        "target_point": [
            25.13352972013695,
            0.43560730776571344
        ],
        "target_point_next": [
            25.13352972013695,
            0.43560730776571344
        ]
    },
    "680": {
        "acceleration": [
            -0.347137451171875,
            -0.10429263114929199,
            -0.017376691102981567
        ],
        "angular_velocity": [
            -0.03875991329550743,
            -0.06014169380068779,
            -0.01603059284389019
        ],
        "forward_vector": [
            -0.9894741773605347,
            -0.14457176625728607,
            -0.006317454390227795
        ],
        "right_vector": [
            0.14457537233829498,
            -0.9894937872886658,
            -0.00011466358409961686
        ],
        "location": [
            2872.436279296875,
            4243.1337890625,
            360.31463623046875
        ],
        "rotation": [
            0.006569870747625828,
            -0.3619658648967743,
            -171.68734741210938
        ],
        "velocity": [
            -4.686483860015869,
            -0.685312807559967,
            -0.03394341468811035
        ],
        "speed": 4.736326067153207,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 16.784687042236328,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2855.895751953125,
                4240.28369140625,
                360.197998046875
            ],
            "velocity": [
                -2.3820486068725586,
                -0.3855915367603302,
                -0.01751270331442356
            ],
            "speed_kmh": 8.68722823988105,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.23030424118042,
                "transform": {
                    "location": {
                        "x": 2910.22021484375,
                        "y": 4252.43310546875,
                        "z": 360.57904052734375
                    },
                    "rotation": {
                        "roll": -0.0016784633044153452,
                        "pitch": -0.40097305178642273,
                        "yaw": -170.26058959960938
                    }
                },
                "velocity": {
                    "x": -4.170011043548584,
                    "y": -0.7113580703735352,
                    "z": -0.021215766668319702
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035750389099121,
                "transform": {
                    "location": {
                        "x": 2879.51220703125,
                        "y": 4254.1796875,
                        "z": 360.3804931640625
                    },
                    "rotation": {
                        "roll": -6.103626219555736e-05,
                        "pitch": 0.39548158645629883,
                        "yaw": 9.176153182983398
                    }
                },
                "velocity": {
                    "x": 7.932432651519775,
                    "y": 1.2832337617874146,
                    "z": 0.05581114813685417
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996865272521973,
                "transform": {
                    "location": {
                        "x": 2881.01904296875,
                        "y": 4251.13134765625,
                        "z": 360.3902893066406
                    },
                    "rotation": {
                        "roll": 0.00010706431930884719,
                        "pitch": 0.3873058557510376,
                        "yaw": 9.18955135345459
                    }
                },
                "velocity": {
                    "x": 7.89404296875,
                    "y": 1.2770494222640991,
                    "z": 0.05556025356054306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.04495906829834,
                "transform": {
                    "location": {
                        "x": 2929.562744140625,
                        "y": 4262.27880859375,
                        "z": 360.722412109375
                    },
                    "rotation": {
                        "roll": 0.00017825672694016248,
                        "pitch": 0.42040494084358215,
                        "yaw": 9.177584648132324
                    }
                },
                "velocity": {
                    "x": 7.941557884216309,
                    "y": 1.2842832803726196,
                    "z": 0.06024625524878502
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045154571533203,
                "transform": {
                    "location": {
                        "x": 2932.662841796875,
                        "y": 4259.48828125,
                        "z": 360.7514343261719
                    },
                    "rotation": {
                        "roll": 0.0006688632420264184,
                        "pitch": 0.4241410493850708,
                        "yaw": 9.177783012390137
                    }
                },
                "velocity": {
                    "x": 7.941797733306885,
                    "y": 1.2840228080749512,
                    "z": 0.0604354552924633
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.613730430603027,
                "transform": {
                    "location": {
                        "x": 2887.995849609375,
                        "y": 4248.76513671875,
                        "z": 360.4255676269531
                    },
                    "rotation": {
                        "roll": -0.0010376012651249766,
                        "pitch": -0.38125431537628174,
                        "yaw": -170.80909729003906
                    }
                },
                "velocity": {
                    "x": -9.490090370178223,
                    "y": -1.5355104207992554,
                    "z": -0.06478443741798401
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.249722480773926,
                "transform": {
                    "location": {
                        "x": 2868.8828125,
                        "y": 4245.673828125,
                        "z": 360.28704833984375
                    },
                    "rotation": {
                        "roll": 0.00047371647087857127,
                        "pitch": -0.5113216042518616,
                        "yaw": -170.70660400390625
                    }
                },
                "velocity": {
                    "x": -5.182905673980713,
                    "y": -0.8340650796890259,
                    "z": -0.03750891610980034
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7581310272216797,
                "transform": {
                    "location": {
                        "x": 2852.94970703125,
                        "y": 4243.09423828125,
                        "z": 360.170654296875
                    },
                    "rotation": {
                        "roll": -0.00027466219034977257,
                        "pitch": -0.41555550694465637,
                        "yaw": -170.72401428222656
                    }
                },
                "velocity": {
                    "x": -1.7354592084884644,
                    "y": -0.28112146258354187,
                    "z": -0.013292522169649601
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.413118839263916,
                "transform": {
                    "location": {
                        "x": 2855.895751953125,
                        "y": 4240.28369140625,
                        "z": 360.197998046875
                    },
                    "rotation": {
                        "roll": -0.002655028598383069,
                        "pitch": -0.10226842015981674,
                        "yaw": -170.99307250976562
                    }
                },
                "velocity": {
                    "x": -2.3820486068725586,
                    "y": -0.3855915367603302,
                    "z": -0.01751270331442356
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11518269777297974,
        "expert_target_speed": 5.5298719231732205,
        "target_point": [
            23.9604406717792,
            0.44390348990591155
        ],
        "target_point_next": [
            23.9604406717792,
            0.44390348990591155
        ]
    },
    "685": {
        "acceleration": [
            -0.36993980407714844,
            -0.12923955917358398,
            -0.017144903540611267
        ],
        "angular_velocity": [
            -0.019378522410988808,
            -0.006705046631395817,
            0.7619624733924866
        ],
        "forward_vector": [
            -0.9891068339347839,
            -0.1470542848110199,
            -0.006530118640512228
        ],
        "right_vector": [
            0.1470552682876587,
            -0.9891281723976135,
            0.000332888012053445
        ],
        "location": [
            2871.255126953125,
            4242.95654296875,
            360.30621337890625
        ],
        "rotation": [
            -0.01907348446547985,
            -0.3741509020328522,
            -171.54356384277344
        ],
        "velocity": [
            -4.763933181762695,
            -0.7264341711997986,
            -0.03373132646083832
        ],
        "speed": 4.819000515188432,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.816510200500488,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2855.6728515625,
                4240.24658203125,
                360.2022705078125
            ],
            "velocity": [
                -0.4598406255245209,
                -0.07458331435918808,
                -0.003331365529447794
            ],
            "speed_kmh": 1.6771022982489705,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.068567752838135,
                "transform": {
                    "location": {
                        "x": 2909.0791015625,
                        "y": 4252.23779296875,
                        "z": 360.5704345703125
                    },
                    "rotation": {
                        "roll": -0.0020446721464395523,
                        "pitch": -0.37805095314979553,
                        "yaw": -170.29722595214844
                    }
                },
                "velocity": {
                    "x": -4.996580600738525,
                    "y": -0.850584864616394,
                    "z": -0.032649677246809006
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038108825683594,
                "transform": {
                    "location": {
                        "x": 2881.495849609375,
                        "y": 4254.5,
                        "z": 360.3941955566406
                    },
                    "rotation": {
                        "roll": 0.0005205240449868143,
                        "pitch": 0.3938491642475128,
                        "yaw": 9.200145721435547
                    }
                },
                "velocity": {
                    "x": 7.934815883636475,
                    "y": 1.2833120822906494,
                    "z": 0.05485820770263672
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056331634521484,
                "transform": {
                    "location": {
                        "x": 2883.0,
                        "y": 4251.4521484375,
                        "z": 360.4040222167969
                    },
                    "rotation": {
                        "roll": 0.0005886269500479102,
                        "pitch": 0.385932981967926,
                        "yaw": 9.194631576538086
                    }
                },
                "velocity": {
                    "x": 7.9526238441467285,
                    "y": 1.2873395681381226,
                    "z": 0.05490732192993164
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.043989181518555,
                "transform": {
                    "location": {
                        "x": 2931.548095703125,
                        "y": 4262.60009765625,
                        "z": 360.7371826171875
                    },
                    "rotation": {
                        "roll": 0.00026383320800960064,
                        "pitch": 0.42218080163002014,
                        "yaw": 9.21163558959961
                    }
                },
                "velocity": {
                    "x": 7.940418720245361,
                    "y": 1.2852673530578613,
                    "z": 0.05993109568953514
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04607105255127,
                "transform": {
                    "location": {
                        "x": 2934.6484375,
                        "y": 4259.8095703125,
                        "z": 360.7663269042969
                    },
                    "rotation": {
                        "roll": -0.0008544909069314599,
                        "pitch": 0.425438791513443,
                        "yaw": 9.210870742797852
                    }
                },
                "velocity": {
                    "x": 7.942385673522949,
                    "y": 1.2861738204956055,
                    "z": 0.05937397852540016
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.185934066772461,
                "transform": {
                    "location": {
                        "x": 2885.5302734375,
                        "y": 4248.36572265625,
                        "z": 360.40863037109375
                    },
                    "rotation": {
                        "roll": 0.0009808469330891967,
                        "pitch": -0.37579697370529175,
                        "yaw": -170.8092041015625
                    }
                },
                "velocity": {
                    "x": -10.054935455322266,
                    "y": -1.6269201040267944,
                    "z": -0.06829892843961716
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3992359638214111,
                "transform": {
                    "location": {
                        "x": 2868.294189453125,
                        "y": 4245.5810546875,
                        "z": 360.2836608886719
                    },
                    "rotation": {
                        "roll": -0.003265379462391138,
                        "pitch": -0.622011661529541,
                        "yaw": -170.54153442382812
                    }
                },
                "velocity": {
                    "x": -1.3814775943756104,
                    "y": -0.22199296951293945,
                    "z": -0.01001151092350483
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2955620288848877,
                "transform": {
                    "location": {
                        "x": 2852.446533203125,
                        "y": 4243.0126953125,
                        "z": 360.166748046875
                    },
                    "rotation": {
                        "roll": -9.154963481705636e-05,
                        "pitch": -0.41668933629989624,
                        "yaw": -170.76171875
                    }
                },
                "velocity": {
                    "x": -2.26598858833313,
                    "y": -0.36686909198760986,
                    "z": -0.01754101738333702
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4658617675304413,
                "transform": {
                    "location": {
                        "x": 2855.6728515625,
                        "y": 4240.24658203125,
                        "z": 360.2022705078125
                    },
                    "rotation": {
                        "roll": 0.009144539944827557,
                        "pitch": -0.8406391739845276,
                        "yaw": -171.04811096191406
                    }
                },
                "velocity": {
                    "x": -0.4598406255245209,
                    "y": -0.07458331435918808,
                    "z": -0.003331365529447794
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11614637076854706,
        "expert_target_speed": 5.493111676133912,
        "target_point": [
            22.767102895337665,
            0.3821605977831317
        ],
        "target_point_next": [
            22.767102895337665,
            0.3821605977831317
        ]
    },
    "690": {
        "acceleration": [
            0.10707855224609375,
            -0.0614166259765625,
            -0.007953643798828125
        ],
        "angular_velocity": [
            0.02625219337642193,
            -0.1269824504852295,
            0.8514777421951294
        ],
        "forward_vector": [
            -0.988585889339447,
            -0.15051208436489105,
            -0.006629060488194227
        ],
        "right_vector": [
            0.15051276981830597,
            -0.9886080026626587,
            0.0003989327815361321
        ],
        "location": [
            2870.053955078125,
            4242.77197265625,
            360.2975158691406
        ],
        "rotation": [
            -0.022857666015625,
            -0.37981995940208435,
            -171.34320068359375
        ],
        "velocity": [
            -4.818532466888428,
            -0.7547915577888489,
            -0.033687084913253784
        ],
        "speed": 4.877290787944388,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.877612113952637,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2855.400146484375,
                4240.203125,
                360.1961669921875
            ],
            "velocity": [
                -1.568949818611145,
                -0.2532396614551544,
                -0.012102794833481312
            ],
            "speed_kmh": 5.721486622266328,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.426558971405029,
                "transform": {
                    "location": {
                        "x": 2907.78076171875,
                        "y": 4252.01708984375,
                        "z": 360.56109619140625
                    },
                    "rotation": {
                        "roll": -0.001708986354060471,
                        "pitch": -0.3844645023345947,
                        "yaw": -170.31793212890625
                    }
                },
                "velocity": {
                    "x": -5.349281311035156,
                    "y": -0.9117560386657715,
                    "z": -0.03785860538482666
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033491134643555,
                "transform": {
                    "location": {
                        "x": 2883.478759765625,
                        "y": 4254.8203125,
                        "z": 360.4078369140625
                    },
                    "rotation": {
                        "roll": 0.0010437994496896863,
                        "pitch": 0.39264705777168274,
                        "yaw": 9.174927711486816
                    }
                },
                "velocity": {
                    "x": 7.930190086364746,
                    "y": 1.2830044031143188,
                    "z": 0.05442251265048981
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997371673583984,
                "transform": {
                    "location": {
                        "x": 2884.98046875,
                        "y": 4251.77294921875,
                        "z": 360.4176330566406
                    },
                    "rotation": {
                        "roll": -0.00027465791208669543,
                        "pitch": 0.38701897859573364,
                        "yaw": 9.193260192871094
                    }
                },
                "velocity": {
                    "x": 7.894737243652344,
                    "y": 1.2760436534881592,
                    "z": 0.052807100117206573
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045977592468262,
                "transform": {
                    "location": {
                        "x": 2933.533447265625,
                        "y": 4262.92138671875,
                        "z": 360.751953125
                    },
                    "rotation": {
                        "roll": 0.0003026142658200115,
                        "pitch": 0.42285698652267456,
                        "yaw": 9.17068099975586
                    }
                },
                "velocity": {
                    "x": 7.942755699157715,
                    "y": 1.283286452293396,
                    "z": 0.05974078178405762
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045011520385742,
                "transform": {
                    "location": {
                        "x": 2936.6337890625,
                        "y": 4260.13134765625,
                        "z": 360.7811279296875
                    },
                    "rotation": {
                        "roll": 0.0002996394759975374,
                        "pitch": 0.426381379365921,
                        "yaw": 9.17941665649414
                    }
                },
                "velocity": {
                    "x": 7.9413909912109375,
                    "y": 1.2856594324111938,
                    "z": 0.05994609743356705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.078143119812012,
                "transform": {
                    "location": {
                        "x": 2883.145263671875,
                        "y": 4247.97998046875,
                        "z": 360.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0018001069547608495,
                        "pitch": -0.4075300395488739,
                        "yaw": -170.80909729003906
                    }
                },
                "velocity": {
                    "x": -8.961383819580078,
                    "y": -1.4499800205230713,
                    "z": -0.06196482479572296
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.036343574523926,
                "transform": {
                    "location": {
                        "x": 2867.904296875,
                        "y": 4245.5166015625,
                        "z": 360.2793273925781
                    },
                    "rotation": {
                        "roll": -0.0031738264951854944,
                        "pitch": -0.422973096370697,
                        "yaw": -170.58013916015625
                    }
                },
                "velocity": {
                    "x": -2.0090301036834717,
                    "y": -0.33211463689804077,
                    "z": -0.013909387402236462
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.871474504470825,
                "transform": {
                    "location": {
                        "x": 2851.80615234375,
                        "y": 4242.9091796875,
                        "z": 360.1618347167969
                    },
                    "rotation": {
                        "roll": 0.00018857225950341672,
                        "pitch": -0.41757041215896606,
                        "yaw": -170.77731323242188
                    }
                },
                "velocity": {
                    "x": -2.8344943523406982,
                    "y": -0.45883116126060486,
                    "z": -0.021948078647255898
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5893018245697021,
                "transform": {
                    "location": {
                        "x": 2855.400146484375,
                        "y": 4240.203125,
                        "z": 360.1961669921875
                    },
                    "rotation": {
                        "roll": -6.103589839767665e-05,
                        "pitch": -0.34265008568763733,
                        "yaw": -170.96685791015625
                    }
                },
                "velocity": {
                    "x": -1.568949818611145,
                    "y": -0.2532396614551544,
                    "z": -0.012102794833481312
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11596890538930893,
        "expert_target_speed": 5.490287289874951,
        "target_point": [
            21.55303173964013,
            0.30086639524222747
        ],
        "target_point_next": [
            21.55303173964013,
            0.30086639524222747
        ]
    },
    "695": {
        "acceleration": [
            2.267446517944336,
            0.307539701461792,
            0.0009110569953918457
        ],
        "angular_velocity": [
            0.06722386181354523,
            -0.6385641098022461,
            0.6972518563270569
        ],
        "forward_vector": [
            -0.9880456924438477,
            -0.15391768515110016,
            -0.008658300153911114
        ],
        "right_vector": [
            0.153920516371727,
            -0.9880831837654114,
            0.00034087177482433617
        ],
        "location": [
            2868.890625,
            4242.587890625,
            360.2897033691406
        ],
        "rotation": [
            -0.0195312462747097,
            -0.49609026312828064,
            -171.1456298828125
        ],
        "velocity": [
            -4.424600124359131,
            -0.7071537375450134,
            -0.032716698944568634
        ],
        "speed": 4.4807535827138185,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.233827590942383,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2854.873046875,
                4240.1181640625,
                360.19061279296875
            ],
            "velocity": [
                -2.200983762741089,
                -0.3573196828365326,
                -0.01676338165998459
            ],
            "speed_kmh": 8.027505905424096,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.411413192749023,
                "transform": {
                    "location": {
                        "x": 2906.328125,
                        "y": 4251.77001953125,
                        "z": 360.5506286621094
                    },
                    "rotation": {
                        "roll": -0.0019836437422782183,
                        "pitch": -0.3681061863899231,
                        "yaw": -170.30140686035156
                    }
                },
                "velocity": {
                    "x": -6.321592807769775,
                    "y": -1.0684819221496582,
                    "z": -0.04502749443054199
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037524223327637,
                "transform": {
                    "location": {
                        "x": 2885.4619140625,
                        "y": 4255.140625,
                        "z": 360.4214782714844
                    },
                    "rotation": {
                        "roll": -0.0003967339580412954,
                        "pitch": 0.3940335810184479,
                        "yaw": 9.208803176879883
                    }
                },
                "velocity": {
                    "x": 7.93404483795166,
                    "y": 1.2844856977462769,
                    "z": 0.05311233550310135
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05571174621582,
                "transform": {
                    "location": {
                        "x": 2886.9619140625,
                        "y": 4252.09375,
                        "z": 360.4312438964844
                    },
                    "rotation": {
                        "roll": 0.00015518687723670155,
                        "pitch": 0.3857758939266205,
                        "yaw": 9.191604614257812
                    }
                },
                "velocity": {
                    "x": 7.952098846435547,
                    "y": 1.286766529083252,
                    "z": 0.053335949778556824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.04394245147705,
                "transform": {
                    "location": {
                        "x": 2935.518798828125,
                        "y": 4263.24169921875,
                        "z": 360.7667541503906
                    },
                    "rotation": {
                        "roll": 0.0011906963773071766,
                        "pitch": 0.4224608242511749,
                        "yaw": 9.209574699401855
                    }
                },
                "velocity": {
                    "x": 7.940408229827881,
                    "y": 1.2850242853164673,
                    "z": 0.06033221259713173
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2938.666748046875,
                        "y": 4260.421875,
                        "z": 360.7966613769531
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.7905168533325195,
                "transform": {
                    "location": {
                        "x": 2881.06591796875,
                        "y": 4247.6435546875,
                        "z": 360.3782043457031
                    },
                    "rotation": {
                        "roll": 0.0010196131188422441,
                        "pitch": -0.41925063729286194,
                        "yaw": -170.8112335205078
                    }
                },
                "velocity": {
                    "x": -7.690371990203857,
                    "y": -1.243996500968933,
                    "z": -0.05293156951665878
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.557913064956665,
                "transform": {
                    "location": {
                        "x": 2867.151611328125,
                        "y": 4245.392578125,
                        "z": 360.2732849121094
                    },
                    "rotation": {
                        "roll": 0.000116460352728609,
                        "pitch": -0.33337467908859253,
                        "yaw": -170.72018432617188
                    }
                },
                "velocity": {
                    "x": -3.51179838180542,
                    "y": -0.570425271987915,
                    "z": -0.02513846755027771
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5088322162628174,
                "transform": {
                    "location": {
                        "x": 2851.019287109375,
                        "y": 4242.78125,
                        "z": 360.1556091308594
                    },
                    "rotation": {
                        "roll": 0.0005402729730121791,
                        "pitch": -0.41781631112098694,
                        "yaw": -170.788818359375
                    }
                },
                "velocity": {
                    "x": -3.463653087615967,
                    "y": -0.5606679320335388,
                    "z": -0.025741996243596077
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.229862689971924,
                "transform": {
                    "location": {
                        "x": 2854.873046875,
                        "y": 4240.1181640625,
                        "z": 360.19061279296875
                    },
                    "rotation": {
                        "roll": -0.0013122569071128964,
                        "pitch": -0.14859075844287872,
                        "yaw": -170.92434692382812
                    }
                },
                "velocity": {
                    "x": -2.200983762741089,
                    "y": -0.3573196828365326,
                    "z": -0.01676338165998459
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11458656191825867,
        "expert_target_speed": 5.103058191266031,
        "target_point": [
            20.376140161523313,
            0.2237153136118959
        ],
        "target_point_next": [
            20.376140161523313,
            0.2237153136118959
        ]
    },
    "700": {
        "acceleration": [
            2.093477249145508,
            0.2999579906463623,
            0.022982768714427948
        ],
        "angular_velocity": [
            0.044603556394577026,
            -0.21871164441108704,
            0.15406253933906555
        ],
        "forward_vector": [
            -0.9876179099082947,
            -0.1565169394016266,
            -0.010649717412889004
        ],
        "right_vector": [
            0.1565231829881668,
            -0.9876742362976074,
            0.0002476599474903196
        ],
        "location": [
            2867.859619140625,
            4242.4228515625,
            360.2826843261719
        ],
        "rotation": [
            -0.014190672896802425,
            -0.6101953983306885,
            -170.9947052001953
        ],
        "velocity": [
            -3.8640804290771484,
            -0.6273552775382996,
            -0.028288278728723526
        ],
        "speed": 3.9146765136639576,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.321022987365723,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2854.74365234375,
                4240.09619140625,
                360.1947326660156
            ],
            "velocity": [
                -0.6768816113471985,
                -0.11079441010951996,
                -0.005873489193618298
            ],
            "speed_kmh": 2.469291973414602,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4725,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2847.231201171875,
                        "y": 4248.85498046875,
                        "z": 360.52752685546875
                    },
                    "rotation": {
                        "roll": 6.670303420719392e-09,
                        "pitch": 0.4402671456336975,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4724,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2847.75048828125,
                        "y": 4245.646484375,
                        "z": 360.3363952636719
                    },
                    "rotation": {
                        "roll": 6.670303420719392e-09,
                        "pitch": 0.4402671456336975,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 2.3894386469436313e-09,
                    "y": 3.8664491053275185e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.600489616394043,
                "transform": {
                    "location": {
                        "x": 2904.599853515625,
                        "y": 4251.4794921875,
                        "z": 360.53839111328125
                    },
                    "rotation": {
                        "roll": -0.00091552670346573,
                        "pitch": -0.3584551513195038,
                        "yaw": -170.4269561767578
                    }
                },
                "velocity": {
                    "x": -7.496952533721924,
                    "y": -1.2491497993469238,
                    "z": -0.05262133851647377
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036140441894531,
                "transform": {
                    "location": {
                        "x": 2887.4453125,
                        "y": 4255.46240234375,
                        "z": 360.43511962890625
                    },
                    "rotation": {
                        "roll": -0.00030517784762196243,
                        "pitch": 0.39240118861198425,
                        "yaw": 9.19063663482666
                    }
                },
                "velocity": {
                    "x": 7.932502269744873,
                    "y": 1.2853639125823975,
                    "z": 0.05300799384713173
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997060775756836,
                "transform": {
                    "location": {
                        "x": 2888.9423828125,
                        "y": 4252.41455078125,
                        "z": 360.4447937011719
                    },
                    "rotation": {
                        "roll": -0.00018310525047127157,
                        "pitch": 0.3868892192840576,
                        "yaw": 9.19165325164795
                    }
                },
                "velocity": {
                    "x": 7.89420223236084,
                    "y": 1.2773946523666382,
                    "z": 0.05309367924928665
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2937.56591796875,
                        "y": 4263.5341796875,
                        "z": 360.7862548828125
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2940.72998046875,
                        "y": 4260.7041015625,
                        "z": 360.8126525878906
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.937448501586914,
                "transform": {
                    "location": {
                        "x": 2879.4384765625,
                        "y": 4247.38037109375,
                        "z": 360.36712646484375
                    },
                    "rotation": {
                        "roll": -3.335154818984165e-09,
                        "pitch": -0.44713830947875977,
                        "yaw": -170.79798889160156
                    }
                },
                "velocity": {
                    "x": -4.873956203460693,
                    "y": -0.7885729670524597,
                    "z": -0.03318125009536743
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.964393615722656,
                "transform": {
                    "location": {
                        "x": 2866.095947265625,
                        "y": 4245.2216796875,
                        "z": 360.2654724121094
                    },
                    "rotation": {
                        "roll": 0.0007301851874217391,
                        "pitch": -0.3279993236064911,
                        "yaw": -170.77008056640625
                    }
                },
                "velocity": {
                    "x": -4.900411128997803,
                    "y": -0.7936608195304871,
                    "z": -0.03571917116641998
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.3599348068237305,
                "transform": {
                    "location": {
                        "x": 2850.0478515625,
                        "y": 4242.6240234375,
                        "z": 360.148193359375
                    },
                    "rotation": {
                        "roll": 0.0011427823919802904,
                        "pitch": -0.41384798288345337,
                        "yaw": -170.8005828857422
                    }
                },
                "velocity": {
                    "x": -4.303905010223389,
                    "y": -0.6959460377693176,
                    "z": -0.0330808162689209
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6859144568443298,
                "transform": {
                    "location": {
                        "x": 2854.74365234375,
                        "y": 4240.09619140625,
                        "z": 360.1947326660156
                    },
                    "rotation": {
                        "roll": 0.007862025871872902,
                        "pitch": -0.7889687418937683,
                        "yaw": -171.01828002929688
                    }
                },
                "velocity": {
                    "x": -0.6768816113471985,
                    "y": -0.11079441010951996,
                    "z": -0.005873489193618298
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4618,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0012817400274798274,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4617,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4616,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10850141942501068,
        "expert_target_speed": 4.4472357388604795,
        "target_point": [
            19.33252833205429,
            0.1684172192213791
        ],
        "target_point_next": [
            19.33252833205429,
            0.1684172192213791
        ]
    },
    "705": {
        "acceleration": [
            0.9249734878540039,
            0.1258409023284912,
            0.013805888593196869
        ],
        "angular_velocity": [
            -0.021160582080483437,
            0.23912663757801056,
            1.0387659072875977
        ],
        "forward_vector": [
            -0.987236499786377,
            -0.1589118242263794,
            -0.010541601106524467
        ],
        "right_vector": [
            0.15891863405704498,
            -0.9872916340827942,
            0.0001928021665662527
        ],
        "location": [
            2866.946533203125,
            4242.27392578125,
            360.2758483886719
        ],
        "rotation": [
            -0.011047364212572575,
            -0.604000449180603,
            -170.85574340820312
        ],
        "velocity": [
            -3.5070126056671143,
            -0.5770705342292786,
            -0.025802548974752426
        ],
        "speed": 3.5541732959696417,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.683079719543457,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2854.460205078125,
                4240.05029296875,
                360.1887512207031
            ],
            "velocity": [
                -0.6845439076423645,
                -0.11214329302310944,
                -0.004482497926801443
            ],
            "speed_kmh": 2.497260014280891,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4725,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4632905721664429,
                "transform": {
                    "location": {
                        "x": 2847.232421875,
                        "y": 4248.85498046875,
                        "z": 360.1505432128906
                    },
                    "rotation": {
                        "roll": 0.0002876436337828636,
                        "pitch": 0.44407156109809875,
                        "yaw": 9.191601753234863
                    }
                },
                "velocity": {
                    "x": 0.010997656732797623,
                    "y": 0.0018162537598982453,
                    "z": -1.4632481336593628
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4724,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.10949787497520447,
                "transform": {
                    "location": {
                        "x": 2847.75146484375,
                        "y": 4245.646484375,
                        "z": 360.0865783691406
                    },
                    "rotation": {
                        "roll": 0.00016463978681713343,
                        "pitch": 0.44168099761009216,
                        "yaw": 9.19173526763916
                    }
                },
                "velocity": {
                    "x": -0.0008333828300237656,
                    "y": -0.00015580907347612083,
                    "z": 0.10949458926916122
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.726765632629395,
                "transform": {
                    "location": {
                        "x": 2902.635009765625,
                        "y": 4251.15185546875,
                        "z": 360.52459716796875
                    },
                    "rotation": {
                        "roll": -0.00018310462473891675,
                        "pitch": -0.3567817509174347,
                        "yaw": -170.57476806640625
                    }
                },
                "velocity": {
                    "x": -8.609283447265625,
                    "y": -1.425866723060608,
                    "z": -0.05990155041217804
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03518295288086,
                "transform": {
                    "location": {
                        "x": 2889.427978515625,
                        "y": 4255.783203125,
                        "z": 360.4486999511719
                    },
                    "rotation": {
                        "roll": -0.0015258826315402985,
                        "pitch": 0.39278367161750793,
                        "yaw": 9.216841697692871
                    }
                },
                "velocity": {
                    "x": 7.931431770324707,
                    "y": 1.2859535217285156,
                    "z": 0.05363297462463379
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056700706481934,
                "transform": {
                    "location": {
                        "x": 2890.923583984375,
                        "y": 4252.73486328125,
                        "z": 360.45843505859375
                    },
                    "rotation": {
                        "roll": -0.0005187993519939482,
                        "pitch": 0.3864452540874481,
                        "yaw": 9.187801361083984
                    }
                },
                "velocity": {
                    "x": 7.953169822692871,
                    "y": 1.2863271236419678,
                    "z": 0.05361895263195038
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2939.62939453125,
                        "y": 4263.81982421875,
                        "z": 360.8069763183594
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.7861328125,
                        "y": 4261.03076171875,
                        "z": 360.8281555175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4303428828716278,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001063528354279697,
                "transform": {
                    "location": {
                        "x": 2878.95556640625,
                        "y": 4247.306640625,
                        "z": 360.364013671875
                    },
                    "rotation": {
                        "roll": -0.007843014784157276,
                        "pitch": -0.5105224847793579,
                        "yaw": -169.86378479003906
                    }
                },
                "velocity": {
                    "x": 4.180632458883338e-05,
                    "y": -1.604316639713943e-05,
                    "z": 0.001062585273757577
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.983259677886963,
                "transform": {
                    "location": {
                        "x": 2864.752685546875,
                        "y": 4245.00341796875,
                        "z": 360.2557678222656
                    },
                    "rotation": {
                        "roll": 0.0013553310418501496,
                        "pitch": -0.3516249358654022,
                        "yaw": -170.8313751220703
                    }
                },
                "velocity": {
                    "x": -5.906391620635986,
                    "y": -0.9549928307533264,
                    "z": -0.04386607185006142
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.296558380126953,
                "transform": {
                    "location": {
                        "x": 2848.846435546875,
                        "y": 4242.42919921875,
                        "z": 360.1390075683594
                    },
                    "rotation": {
                        "roll": -0.00042724120430648327,
                        "pitch": -0.4093332290649414,
                        "yaw": -170.8056182861328
                    }
                },
                "velocity": {
                    "x": -5.228451251983643,
                    "y": -0.8457557559013367,
                    "z": -0.039031557738780975
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.675048828125,
                        "y": 4255.9404296875,
                        "z": 360.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0006103495834395289,
                        "pitch": -0.4422547221183777,
                        "yaw": -170.70071411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.487060546875,
                        "y": 4254.29541015625,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": -0.0025939929764717817,
                        "pitch": -0.4271463453769684,
                        "yaw": -170.6597442626953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6936833262443542,
                "transform": {
                    "location": {
                        "x": 2854.460205078125,
                        "y": 4240.05029296875,
                        "z": 360.1887512207031
                    },
                    "rotation": {
                        "roll": 0.0013744640164077282,
                        "pitch": -0.3234230875968933,
                        "yaw": -171.08180236816406
                    }
                },
                "velocity": {
                    "x": -0.6845439076423645,
                    "y": -0.11214329302310944,
                    "z": -0.004482497926801443
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.10667575895786285,
        "expert_target_speed": 4.033182824290367,
        "target_point": [
            18.40773068531006,
            0.11960680480090957
        ],
        "target_point_next": [
            18.40773068531006,
            0.11960680480090957
        ]
    },
    "710": {
        "acceleration": [
            -0.17320632934570312,
            -0.054917335510253906,
            0.013875104486942291
        ],
        "angular_velocity": [
            -0.08232399821281433,
            0.40032070875167847,
            -0.07983241975307465
        ],
        "forward_vector": [
            -0.9869325757026672,
            -0.1608850359916687,
            -0.008948087692260742
        ],
        "right_vector": [
            0.1608896404504776,
            -0.9869723916053772,
            0.0002077182289212942
        ],
        "location": [
            2866.079833984375,
            4242.13134765625,
            360.2691650390625
        ],
        "rotation": [
            -0.011901854537427425,
            -0.5126944780349731,
            -170.74136352539062
        ],
        "velocity": [
            -3.461660623550415,
            -0.5768271088600159,
            -0.02527846209704876
        ],
        "speed": 3.5093907998618867,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.808464050292969,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2854.45654296875,
                4240.0498046875,
                360.1910400390625
            ],
            "velocity": [
                0.0007009169203229249,
                0.0001645549782551825,
                0.0012359138345345855
            ],
            "speed_kmh": 0.005149190476073832,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4725,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.27212804555892944,
                "transform": {
                    "location": {
                        "x": 2847.233154296875,
                        "y": 4248.85498046875,
                        "z": 360.0499572753906
                    },
                    "rotation": {
                        "roll": 0.0004595809441525489,
                        "pitch": 0.44677630066871643,
                        "yaw": 9.191584587097168
                    }
                },
                "velocity": {
                    "x": -0.0020635067485272884,
                    "y": -0.00034454723936505616,
                    "z": 0.27211999893188477
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4724,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9076791405677795,
                "transform": {
                    "location": {
                        "x": 2847.7880859375,
                        "y": 4245.65283203125,
                        "z": 360.1193542480469
                    },
                    "rotation": {
                        "roll": -0.0007019034237600863,
                        "pitch": 0.4816034436225891,
                        "yaw": 9.186918258666992
                    }
                },
                "velocity": {
                    "x": 0.890242338180542,
                    "y": 0.15420155227184296,
                    "z": 0.08701654523611069
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.698563575744629,
                "transform": {
                    "location": {
                        "x": 2900.341064453125,
                        "y": 4250.7724609375,
                        "z": 360.5085144042969
                    },
                    "rotation": {
                        "roll": 0.0014780075289309025,
                        "pitch": -0.35700032114982605,
                        "yaw": -170.6748046875
                    }
                },
                "velocity": {
                    "x": -9.570277214050293,
                    "y": -1.5708733797073364,
                    "z": -0.06546662002801895
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036699295043945,
                "transform": {
                    "location": {
                        "x": 2891.4111328125,
                        "y": 4256.10498046875,
                        "z": 360.4623718261719
                    },
                    "rotation": {
                        "roll": 0.0002495479129720479,
                        "pitch": 0.3937877118587494,
                        "yaw": 9.191580772399902
                    }
                },
                "velocity": {
                    "x": 7.933236598968506,
                    "y": 1.2843278646469116,
                    "z": 0.052921149879693985
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9969658851623535,
                "transform": {
                    "location": {
                        "x": 2892.904296875,
                        "y": 4253.05517578125,
                        "z": 360.4720153808594
                    },
                    "rotation": {
                        "roll": -0.00054931576596573,
                        "pitch": 0.38670480251312256,
                        "yaw": 9.18752384185791
                    }
                },
                "velocity": {
                    "x": 7.894199848175049,
                    "y": 1.276808261871338,
                    "z": 0.05322471633553505
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4719,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.6875,
                        "y": 4264.142578125,
                        "z": 360.8235778808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4303428828716278,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.8786843419075012,
                "transform": {
                    "location": {
                        "x": 2878.841064453125,
                        "y": 4247.28759765625,
                        "z": 360.3624572753906
                    },
                    "rotation": {
                        "roll": -0.005676272790879011,
                        "pitch": -0.40158095955848694,
                        "yaw": -169.92283630371094
                    }
                },
                "velocity": {
                    "x": -0.8669562935829163,
                    "y": -0.14297893643379211,
                    "z": -0.0054827118292450905
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.962120056152344,
                "transform": {
                    "location": {
                        "x": 2862.940185546875,
                        "y": 4244.71044921875,
                        "z": 360.241943359375
                    },
                    "rotation": {
                        "roll": 0.0010737207485362887,
                        "pitch": -0.30737897753715515,
                        "yaw": -170.83619689941406
                    }
                },
                "velocity": {
                    "x": -7.860267639160156,
                    "y": -1.2681540250778198,
                    "z": -0.05775126814842224
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.592134475708008,
                "transform": {
                    "location": {
                        "x": 2847.5244140625,
                        "y": 4242.21533203125,
                        "z": 360.1287536621094
                    },
                    "rotation": {
                        "roll": 0.0008994786185212433,
                        "pitch": -0.42525437474250793,
                        "yaw": -170.85238647460938
                    }
                },
                "velocity": {
                    "x": -5.520445346832275,
                    "y": -0.8915444016456604,
                    "z": -0.042439911514520645
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2950.203369140625,
                        "y": 4255.56591796875,
                        "z": 360.8727722167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.43032920360565186,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2937.002685546875,
                        "y": 4253.50048828125,
                        "z": 360.7773742675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0014303307980298996,
                "transform": {
                    "location": {
                        "x": 2854.45654296875,
                        "y": 4240.0498046875,
                        "z": 360.1910400390625
                    },
                    "rotation": {
                        "roll": 0.0057233404368162155,
                        "pitch": -0.6082761287689209,
                        "yaw": -171.0899658203125
                    }
                },
                "velocity": {
                    "x": 0.0007009169203229249,
                    "y": 0.0001645549782551825,
                    "z": 0.0012359138345345855
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.09921937435865402,
        "expert_target_speed": 3.772358752275216,
        "target_point": [
            17.52958519988041,
            0.08158756795697775
        ],
        "target_point_next": [
            17.52958519988041,
            0.08158756795697775
        ]
    },
    "715": {
        "acceleration": [
            -0.27145862579345703,
            -0.050913095474243164,
            0.013096928596496582
        ],
        "angular_velocity": [
            -0.08582491427659988,
            0.18218713998794556,
            0.9072739481925964
        ],
        "forward_vector": [
            -0.9866244196891785,
            -0.16283224523067474,
            -0.007606432307511568
        ],
        "right_vector": [
            0.16283553838729858,
            -0.986653208732605,
            0.00018961158639285713
        ],
        "location": [
            2865.203369140625,
            4241.98486328125,
            360.262451171875
        ],
        "rotation": [
            -0.0108642578125,
            -0.43582069873809814,
            -170.62840270996094
        ],
        "velocity": [
            -3.540428638458252,
            -0.5939725637435913,
            -0.02520451880991459
        ],
        "speed": 3.589907847075672,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.921177864074707,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2854.455322265625,
                4240.04931640625,
                360.1898498535156
            ],
            "velocity": [
                0.0008969879127107561,
                0.00023409361892845482,
                0.0013854211429134011
            ],
            "speed_kmh": 0.006001081094302915,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4725,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4005674719810486,
                "transform": {
                    "location": {
                        "x": 2847.249267578125,
                        "y": 4248.85791015625,
                        "z": 360.1391296386719
                    },
                    "rotation": {
                        "roll": -0.0008544903830625117,
                        "pitch": 0.47804492712020874,
                        "yaw": 9.201308250427246
                    }
                },
                "velocity": {
                    "x": 0.29271289706230164,
                    "y": 0.05085897445678711,
                    "z": 0.2686760425567627
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4724,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6885286569595337,
                "transform": {
                    "location": {
                        "x": 2848.107177734375,
                        "y": 4245.7060546875,
                        "z": 360.1317443847656
                    },
                    "rotation": {
                        "roll": -0.0005188001086935401,
                        "pitch": 0.4934333264827728,
                        "yaw": 9.346576690673828
                    }
                },
                "velocity": {
                    "x": 1.6625001430511475,
                    "y": 0.29419058561325073,
                    "z": 0.025967806577682495
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.225971221923828,
                "transform": {
                    "location": {
                        "x": 2897.861083984375,
                        "y": 4250.36572265625,
                        "z": 360.4914245605469
                    },
                    "rotation": {
                        "roll": 0.000996611313894391,
                        "pitch": -0.36968398094177246,
                        "yaw": -170.7526092529297
                    }
                },
                "velocity": {
                    "x": -10.092041015625,
                    "y": -1.6481620073318481,
                    "z": -0.06897056102752686
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03510856628418,
                "transform": {
                    "location": {
                        "x": 2893.394287109375,
                        "y": 4256.42529296875,
                        "z": 360.4759826660156
                    },
                    "rotation": {
                        "roll": 0.0001790398673620075,
                        "pitch": 0.39281782507896423,
                        "yaw": 9.210320472717285
                    }
                },
                "velocity": {
                    "x": 7.9316229820251465,
                    "y": 1.2842738628387451,
                    "z": 0.054413337260484695
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056168556213379,
                "transform": {
                    "location": {
                        "x": 2894.885498046875,
                        "y": 4253.37548828125,
                        "z": 360.4856872558594
                    },
                    "rotation": {
                        "roll": 0.0014668398071080446,
                        "pitch": 0.38698482513427734,
                        "yaw": 9.185782432556152
                    }
                },
                "velocity": {
                    "x": 7.952393531799316,
                    "y": 1.287800908088684,
                    "z": 0.05344555899500847
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6153963804244995,
                "transform": {
                    "location": {
                        "x": 2878.53173828125,
                        "y": 4247.23583984375,
                        "z": 360.3601379394531
                    },
                    "rotation": {
                        "roll": -0.0043029761873185635,
                        "pitch": -0.37902766466140747,
                        "yaw": -170.04295349121094
                    }
                },
                "velocity": {
                    "x": -1.5942672491073608,
                    "y": -0.2601933181285858,
                    "z": -0.010818395763635635
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.9690632820129395,
                "transform": {
                    "location": {
                        "x": 2861.078369140625,
                        "y": 4244.40966796875,
                        "z": 360.2291259765625
                    },
                    "rotation": {
                        "roll": -3.051996827707626e-05,
                        "pitch": -0.4397275447845459,
                        "yaw": -170.82327270507812
                    }
                },
                "velocity": {
                    "x": -6.879630088806152,
                    "y": -1.111697793006897,
                    "z": -0.05154679715633392
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.171240329742432,
                "transform": {
                    "location": {
                        "x": 2846.036376953125,
                        "y": 4241.9755859375,
                        "z": 360.1171875
                    },
                    "rotation": {
                        "roll": -0.002197269117459655,
                        "pitch": -0.42101967334747314,
                        "yaw": -170.82577514648438
                    }
                },
                "velocity": {
                    "x": -6.092191219329834,
                    "y": -0.9833944439888,
                    "z": -0.048449333757162094
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2946.49365234375,
                        "y": 4255.017578125,
                        "z": 360.84716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.43032920360565186,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 18.939319610595703,
                "transform": {
                    "location": {
                        "x": 2931.74658203125,
                        "y": 4252.65087890625,
                        "z": 360.7451171875
                    },
                    "rotation": {
                        "roll": -0.0057678245939314365,
                        "pitch": -1.0832816362380981,
                        "yaw": -170.78428649902344
                    }
                },
                "velocity": {
                    "x": -18.694438934326172,
                    "y": -3.033205270767212,
                    "z": -0.12431682646274567
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00166696694213897,
                "transform": {
                    "location": {
                        "x": 2854.455322265625,
                        "y": 4240.04931640625,
                        "z": 360.1898498535156
                    },
                    "rotation": {
                        "roll": 0.0017622212180867791,
                        "pitch": -0.4556828737258911,
                        "yaw": -171.0899658203125
                    }
                },
                "velocity": {
                    "x": 0.0008969879127107561,
                    "y": 0.00023409361892845482,
                    "z": 0.0013854211429134011
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.1415044516324997,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08859023451805115,
        "expert_target_speed": 3.539183585761594,
        "target_point": [
            16.64109226343333,
            0.04521546747758354
        ],
        "target_point_next": [
            16.64109226343333,
            0.04521546747758354
        ]
    },
    "720": {
        "acceleration": [
            0.28301239013671875,
            0.024607181549072266,
            0.0070787593722343445
        ],
        "angular_velocity": [
            0.01103051844984293,
            -0.09094903618097305,
            -0.2023468017578125
        ],
        "forward_vector": [
            -0.9864031076431274,
            -0.16418029367923737,
            -0.007332139648497105
        ],
        "right_vector": [
            0.16418348252773285,
            -0.9864298105239868,
            0.00016937247710302472
        ],
        "location": [
            2864.3125,
            4241.83544921875,
            360.2557678222656
        ],
        "rotation": [
            -0.009704588912427425,
            -0.42010441422462463,
            -170.5501251220703
        ],
        "velocity": [
            -3.5597219467163086,
            -0.6012511849403381,
            -0.02574191987514496
        ],
        "speed": 3.610141732027415,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.017914772033691,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2854.455322265625,
                4240.04931640625,
                360.18951416015625
            ],
            "velocity": [
                0.012682625092566013,
                0.0023060732055455446,
                -6.679534999420866e-05
            ],
            "speed_kmh": 0.04640669705708052,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4725,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9701743125915527,
                "transform": {
                    "location": {
                        "x": 2847.4228515625,
                        "y": 4248.88671875,
                        "z": 360.16204833984375
                    },
                    "rotation": {
                        "roll": -0.0030517608392983675,
                        "pitch": 0.6054074168205261,
                        "yaw": 9.308599472045898
                    }
                },
                "velocity": {
                    "x": 0.9559032917022705,
                    "y": 0.16423998773097992,
                    "z": -0.02263408526778221
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4724,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.909684896469116,
                "transform": {
                    "location": {
                        "x": 2848.667236328125,
                        "y": 4245.80224609375,
                        "z": 360.1371765136719
                    },
                    "rotation": {
                        "roll": 6.0870606830576435e-05,
                        "pitch": 0.524749755859375,
                        "yaw": 9.481718063354492
                    }
                },
                "velocity": {
                    "x": 2.8667285442352295,
                    "y": 0.497510701417923,
                    "z": 0.024811916053295135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.290680885314941,
                "transform": {
                    "location": {
                        "x": 2895.44873046875,
                        "y": 4249.97216796875,
                        "z": 360.4751892089844
                    },
                    "rotation": {
                        "roll": 0.0004326376656536013,
                        "pitch": -0.41262537240982056,
                        "yaw": -170.78721618652344
                    }
                },
                "velocity": {
                    "x": -9.169997215270996,
                    "y": -1.4912580251693726,
                    "z": -0.06362761557102203
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036006927490234,
                "transform": {
                    "location": {
                        "x": 2895.37744140625,
                        "y": 4256.74609375,
                        "z": 360.4896545410156
                    },
                    "rotation": {
                        "roll": 0.0007785233901813626,
                        "pitch": 0.39602118730545044,
                        "yaw": 9.182063102722168
                    }
                },
                "velocity": {
                    "x": 7.932533264160156,
                    "y": 1.2842382192611694,
                    "z": 0.055257271975278854
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997622966766357,
                "transform": {
                    "location": {
                        "x": 2896.8662109375,
                        "y": 4253.69580078125,
                        "z": 360.4993591308594
                    },
                    "rotation": {
                        "roll": -0.0004882797657046467,
                        "pitch": 0.389559805393219,
                        "yaw": 9.187883377075195
                    }
                },
                "velocity": {
                    "x": 7.894839286804199,
                    "y": 1.2769383192062378,
                    "z": 0.05394246056675911
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.414109706878662,
                "transform": {
                    "location": {
                        "x": 2878.029052734375,
                        "y": 4247.15283203125,
                        "z": 360.3565979003906
                    },
                    "rotation": {
                        "roll": -0.004241942428052425,
                        "pitch": -0.37692397832870483,
                        "yaw": -170.14596557617188
                    }
                },
                "velocity": {
                    "x": -2.3825535774230957,
                    "y": -0.3887005150318146,
                    "z": -0.016632165759801865
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.408161640167236,
                "transform": {
                    "location": {
                        "x": 2859.52001953125,
                        "y": 4244.158203125,
                        "z": 360.2179260253906
                    },
                    "rotation": {
                        "roll": -0.0010376011487096548,
                        "pitch": -0.49966245889663696,
                        "yaw": -170.81533813476562
                    }
                },
                "velocity": {
                    "x": -5.33853816986084,
                    "y": -0.8639780282974243,
                    "z": -0.04202559217810631
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.427245140075684,
                "transform": {
                    "location": {
                        "x": 2844.604248046875,
                        "y": 4241.744140625,
                        "z": 360.1062927246094
                    },
                    "rotation": {
                        "roll": -0.0012512218672782183,
                        "pitch": -0.45785486698150635,
                        "yaw": -170.80191040039062
                    }
                },
                "velocity": {
                    "x": -5.357489109039307,
                    "y": -0.8663360476493835,
                    "z": -0.041969895362854004
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.8876953125,
                        "y": 4254.45166015625,
                        "z": 360.8209228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 18.35580825805664,
                "transform": {
                    "location": {
                        "x": 2927.21240234375,
                        "y": 4251.91064453125,
                        "z": 360.7133483886719
                    },
                    "rotation": {
                        "roll": -0.034698475152254105,
                        "pitch": -0.961451530456543,
                        "yaw": -170.6061553955078
                    }
                },
                "velocity": {
                    "x": -18.110464096069336,
                    "y": -2.988391637802124,
                    "z": -0.12777981162071228
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.012890749610960484,
                "transform": {
                    "location": {
                        "x": 2854.455322265625,
                        "y": 4240.04931640625,
                        "z": 360.18951416015625
                    },
                    "rotation": {
                        "roll": 0.0022003294434398413,
                        "pitch": -0.4167439639568329,
                        "yaw": -171.08995056152344
                    }
                },
                "velocity": {
                    "x": 0.012682625092566013,
                    "y": 0.0023060732055455446,
                    "z": -6.679534999420866e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.07954776287078857,
        "expert_target_speed": 3.0797819575066154,
        "target_point": [
            15.737827299280047,
            0.02136190623796974
        ],
        "target_point_next": [
            15.737827299280047,
            0.02136190623796974
        ]
    },
    "725": {
        "acceleration": [
            0.8438777923583984,
            0.12400507926940918,
            0.01260213553905487
        ],
        "angular_velocity": [
            0.009777018800377846,
            -0.2068783938884735,
            0.9112606048583984
        ],
        "forward_vector": [
            -0.9861469864845276,
            -0.1656682938337326,
            -0.00825514830648899
        ],
        "right_vector": [
            0.16567255556583405,
            -0.98618084192276,
            0.00017043657135218382
        ],
        "location": [
            2863.445556640625,
            4241.6884765625,
            360.24957275390625
        ],
        "rotation": [
            -0.009765628725290298,
            -0.47299057245254517,
            -170.46360778808594
        ],
        "velocity": [
            -3.3726162910461426,
            -0.5745640993118286,
            -0.024989981204271317
        ],
        "speed": 3.4212080543059424,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 9.140890121459961,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2854.453125,
                4240.048828125,
                360.1896057128906
            ],
            "velocity": [
                -0.030633792281150818,
                -0.005308051127940416,
                -0.0005833244067616761
            ],
            "speed_kmh": 0.11194465575229143,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4725,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6929978132247925,
                "transform": {
                    "location": {
                        "x": 2847.735595703125,
                        "y": 4248.93994140625,
                        "z": 360.15057373046875
                    },
                    "rotation": {
                        "roll": -0.003112800419330597,
                        "pitch": 0.6139724850654602,
                        "yaw": 9.380118370056152
                    }
                },
                "velocity": {
                    "x": 1.6679754257202148,
                    "y": 0.2879284918308258,
                    "z": -0.03459307923913002
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4724,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.109259605407715,
                "transform": {
                    "location": {
                        "x": 2849.53369140625,
                        "y": 4245.95166015625,
                        "z": 360.1442565917969
                    },
                    "rotation": {
                        "roll": 0.001724781352095306,
                        "pitch": 0.5237525105476379,
                        "yaw": 9.599881172180176
                    }
                },
                "velocity": {
                    "x": 4.04876708984375,
                    "y": 0.7017966508865356,
                    "z": 0.031308889389038086
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.001491069793701,
                "transform": {
                    "location": {
                        "x": 2893.404052734375,
                        "y": 4249.640625,
                        "z": 360.4615783691406
                    },
                    "rotation": {
                        "roll": -0.0015258826315402985,
                        "pitch": -0.45962390303611755,
                        "yaw": -170.7982177734375
                    }
                },
                "velocity": {
                    "x": -6.910939693450928,
                    "y": -1.1213754415512085,
                    "z": -0.04794631898403168
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036457061767578,
                "transform": {
                    "location": {
                        "x": 2897.360595703125,
                        "y": 4257.06640625,
                        "z": 360.50335693359375
                    },
                    "rotation": {
                        "roll": 0.0009555155411362648,
                        "pitch": 0.3956250250339508,
                        "yaw": 9.20836067199707
                    }
                },
                "velocity": {
                    "x": 7.932821273803711,
                    "y": 1.2852195501327515,
                    "z": 0.056523341685533524
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056488990783691,
                "transform": {
                    "location": {
                        "x": 2898.847412109375,
                        "y": 4254.01611328125,
                        "z": 360.5130310058594
                    },
                    "rotation": {
                        "roll": -6.1032886151224375e-05,
                        "pitch": 0.3894846737384796,
                        "yaw": 9.187769889831543
                    }
                },
                "velocity": {
                    "x": 7.952939510345459,
                    "y": 1.2863085269927979,
                    "z": 0.05636465921998024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2188637256622314,
                "transform": {
                    "location": {
                        "x": 2877.329345703125,
                        "y": 4247.03759765625,
                        "z": 360.3517150878906
                    },
                    "rotation": {
                        "roll": -0.0022582998499274254,
                        "pitch": -0.37627509236335754,
                        "yaw": -170.31300354003906
                    }
                },
                "velocity": {
                    "x": -3.1771373748779297,
                    "y": -0.5161458253860474,
                    "z": -0.02179042249917984
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.565880537033081,
                "transform": {
                    "location": {
                        "x": 2858.721435546875,
                        "y": 4244.02880859375,
                        "z": 360.21282958984375
                    },
                    "rotation": {
                        "roll": 0.0005602735909633338,
                        "pitch": -0.6380284428596497,
                        "yaw": -170.81890869140625
                    }
                },
                "velocity": {
                    "x": -1.545746922492981,
                    "y": -0.24998971819877625,
                    "z": -0.012405538000166416
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.25464361906051636,
                "transform": {
                    "location": {
                        "x": 2843.787109375,
                        "y": 4241.607421875,
                        "z": 360.1007995605469
                    },
                    "rotation": {
                        "roll": 0.003407436655834317,
                        "pitch": -0.5828199982643127,
                        "yaw": -171.210205078125
                    }
                },
                "velocity": {
                    "x": -0.250545471906662,
                    "y": -0.04548253118991852,
                    "z": -0.0012961673783138394
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2937.9345703125,
                        "y": 4253.6552734375,
                        "z": 360.7841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 18.34197235107422,
                "transform": {
                    "location": {
                        "x": 2922.68115234375,
                        "y": 4251.15869140625,
                        "z": 360.67523193359375
                    },
                    "rotation": {
                        "roll": -0.0315856896340847,
                        "pitch": -0.3251033127307892,
                        "yaw": -170.44117736816406
                    }
                },
                "velocity": {
                    "x": -18.090547561645508,
                    "y": -3.0236010551452637,
                    "z": -0.13380953669548035
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.03109573759138584,
                "transform": {
                    "location": {
                        "x": 2854.453125,
                        "y": 4240.048828125,
                        "z": 360.1896057128906
                    },
                    "rotation": {
                        "roll": 0.002745983423665166,
                        "pitch": -0.4306297302246094,
                        "yaw": -171.09027099609375
                    }
                },
                "velocity": {
                    "x": -0.030633792281150818,
                    "y": -0.005308051127940416,
                    "z": -0.0005833244067616761
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.06766312569379807,
        "expert_target_speed": 2.2007566140038204,
        "target_point": [
            14.858529365300491,
            -0.0037160564269513863
        ],
        "target_point_next": [
            14.858529365300491,
            -0.0037160564269513863
        ]
    },
    "730": {
        "acceleration": [
            2.487330436706543,
            0.41336655616760254,
            0.033574216067790985
        ],
        "angular_velocity": [
            0.10431274771690369,
            -0.5219395756721497,
            -0.4464324414730072
        ],
        "forward_vector": [
            -0.9859345555305481,
            -0.16684134304523468,
            -0.00984390452504158
        ],
        "right_vector": [
            0.16684779524803162,
            -0.9859826564788818,
            0.0001683035952737555
        ],
        "location": [
            2862.652099609375,
            4241.55322265625,
            360.2439880371094
        ],
        "rotation": [
            -0.00964355282485485,
            -0.5640233159065247,
            -170.3953094482422
        ],
        "velocity": [
            -2.9181883335113525,
            -0.5011605620384216,
            -0.021979931741952896
        ],
        "speed": 2.960909498580534,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 8.36491870880127,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2854.424560546875,
                4240.04443359375,
                360.18896484375
            ],
            "velocity": [
                -0.4216780364513397,
                -0.06733652949333191,
                -0.003701438894495368
            ],
            "speed_kmh": 1.5373318339327435,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4725,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.2367990016937256,
                "transform": {
                    "location": {
                        "x": 2848.339599609375,
                        "y": 4249.04345703125,
                        "z": 360.1493225097656
                    },
                    "rotation": {
                        "roll": -0.003509524744004011,
                        "pitch": 0.7679181098937988,
                        "yaw": 9.501502990722656
                    }
                },
                "velocity": {
                    "x": 3.1895482540130615,
                    "y": 0.5503790974617004,
                    "z": 0.02706822380423546
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4724,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.317081928253174,
                "transform": {
                    "location": {
                        "x": 2850.7021484375,
                        "y": 4246.15234375,
                        "z": 360.15325927734375
                    },
                    "rotation": {
                        "roll": 0.00413366686552763,
                        "pitch": 0.5229260921478271,
                        "yaw": 9.830979347229004
                    }
                },
                "velocity": {
                    "x": 5.238803386688232,
                    "y": 0.9081359505653381,
                    "z": 0.03987029939889908
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.8694233894348145,
                "transform": {
                    "location": {
                        "x": 2891.901611328125,
                        "y": 4249.39794921875,
                        "z": 360.4512023925781
                    },
                    "rotation": {
                        "roll": -0.0012207115069031715,
                        "pitch": -0.4556828737258911,
                        "yaw": -170.70460510253906
                    }
                },
                "velocity": {
                    "x": -4.806732177734375,
                    "y": -0.7781585454940796,
                    "z": -0.03285367414355278
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03521728515625,
                "transform": {
                    "location": {
                        "x": 2899.34375,
                        "y": 4257.38720703125,
                        "z": 360.51715087890625
                    },
                    "rotation": {
                        "roll": -0.001129146316088736,
                        "pitch": 0.3988625407218933,
                        "yaw": 9.189268112182617
                    }
                },
                "velocity": {
                    "x": 7.931591510772705,
                    "y": 1.285056710243225,
                    "z": 0.05663780868053436
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996621131896973,
                "transform": {
                    "location": {
                        "x": 2900.82763671875,
                        "y": 4254.33642578125,
                        "z": 360.52685546875
                    },
                    "rotation": {
                        "roll": 1.950051409949083e-05,
                        "pitch": 0.3930705487728119,
                        "yaw": 9.187703132629395
                    }
                },
                "velocity": {
                    "x": 7.893831729888916,
                    "y": 1.2767990827560425,
                    "z": 0.056135766208171844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9693453311920166,
                "transform": {
                    "location": {
                        "x": 2876.43896484375,
                        "y": 4246.8916015625,
                        "z": 360.3454284667969
                    },
                    "rotation": {
                        "roll": -0.000396729854401201,
                        "pitch": -0.37755918502807617,
                        "yaw": -170.49786376953125
                    }
                },
                "velocity": {
                    "x": -3.9181456565856934,
                    "y": -0.6349451541900635,
                    "z": -0.02609979547560215
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.00909423828125,
                "transform": {
                    "location": {
                        "x": 2858.308349609375,
                        "y": 4243.962890625,
                        "z": 360.2087707519531
                    },
                    "rotation": {
                        "roll": 0.00020842674712184817,
                        "pitch": -0.5407665371894836,
                        "yaw": -170.717529296875
                    }
                },
                "velocity": {
                    "x": -0.9971584677696228,
                    "y": -0.15428748726844788,
                    "z": -0.011898173950612545
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012924772454425693,
                "transform": {
                    "location": {
                        "x": 2843.784912109375,
                        "y": 4241.60693359375,
                        "z": 360.1000671386719
                    },
                    "rotation": {
                        "roll": 0.002930057467892766,
                        "pitch": -0.49609026312828064,
                        "yaw": -171.2154541015625
                    }
                },
                "velocity": {
                    "x": 0.00011852997704409063,
                    "y": 0.00013359107833821326,
                    "z": 0.0012800786644220352
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2933.677001953125,
                        "y": 4252.96630859375,
                        "z": 360.75244140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4188545048236847,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.037089347839355,
                "transform": {
                    "location": {
                        "x": 2918.534423828125,
                        "y": 4250.46484375,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": -0.01702881045639515,
                        "pitch": -0.9542524814605713,
                        "yaw": -170.34996032714844
                    }
                },
                "velocity": {
                    "x": -14.828693389892578,
                    "y": -2.492427110671997,
                    "z": -0.10825761407613754
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4270366132259369,
                "transform": {
                    "location": {
                        "x": 2854.424560546875,
                        "y": 4240.04443359375,
                        "z": 360.18896484375
                    },
                    "rotation": {
                        "roll": 0.0018249927088618279,
                        "pitch": -0.387237548828125,
                        "yaw": -171.1024932861328
                    }
                },
                "velocity": {
                    "x": -0.4216780364513397,
                    "y": -0.06733652949333191,
                    "z": -0.003701438894495368
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.05718892440199852,
        "expert_target_speed": 0.8667405630559227,
        "target_point": [
            14.05361269346177,
            -0.022392125089953918
        ],
        "target_point_next": [
            14.05361269346177,
            -0.022392125089953918
        ]
    },
    "735": {
        "acceleration": [
            -0.7711505889892578,
            -0.14591097831726074,
            0.00010069459676742554
        ],
        "angular_velocity": [
            -0.09936010092496872,
            0.6650335788726807,
            1.0370094776153564
        ],
        "forward_vector": [
            -0.9857195019721985,
            -0.16807027161121368,
            -0.01045970804989338
        ],
        "right_vector": [
            0.1680779606103897,
            -0.9857736825942993,
            0.00014593316882383078
        ],
        "location": [
            2861.987060546875,
            4241.4384765625,
            360.2391662597656
        ],
        "rotation": [
            -0.008361812680959702,
            -0.5993080735206604,
            -170.32382202148438
        ],
        "velocity": [
            -2.592864513397217,
            -0.4485793709754944,
            -0.02040300890803337
        ],
        "speed": 2.6313817353054945,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 7.872262477874756,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2854.24462890625,
                4240.015625,
                360.18658447265625
            ],
            "velocity": [
                -1.1960254907608032,
                -0.1925944834947586,
                -0.009075460024178028
            ],
            "speed_kmh": 4.361280726783775,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4725,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.259143829345703,
                "transform": {
                    "location": {
                        "x": 2849.398681640625,
                        "y": 4249.22509765625,
                        "z": 360.1584777832031
                    },
                    "rotation": {
                        "roll": -0.0040283179841935635,
                        "pitch": 0.9215905666351318,
                        "yaw": 9.638949394226074
                    }
                },
                "velocity": {
                    "x": 5.18192195892334,
                    "y": 0.896509051322937,
                    "z": 0.05051979050040245
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4724,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.17849588394165,
                "transform": {
                    "location": {
                        "x": 2852.1650390625,
                        "y": 4246.40576171875,
                        "z": 360.1642761230469
                    },
                    "rotation": {
                        "roll": 0.002801988273859024,
                        "pitch": 0.5661407113075256,
                        "yaw": 9.90771770477295
                    }
                },
                "velocity": {
                    "x": 7.071781635284424,
                    "y": 1.2319421768188477,
                    "z": 0.05503895506262779
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.223548173904419,
                "transform": {
                    "location": {
                        "x": 2891.26513671875,
                        "y": 4249.2978515625,
                        "z": 360.44671630859375
                    },
                    "rotation": {
                        "roll": -0.004394535906612873,
                        "pitch": -0.4783932566642761,
                        "yaw": -170.43154907226562
                    }
                },
                "velocity": {
                    "x": -2.194828987121582,
                    "y": -0.3559117317199707,
                    "z": -0.014800186268985271
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035835266113281,
                "transform": {
                    "location": {
                        "x": 2901.326904296875,
                        "y": 4257.7080078125,
                        "z": 360.531005859375
                    },
                    "rotation": {
                        "roll": 9.991727711167186e-05,
                        "pitch": 0.39911526441574097,
                        "yaw": 9.211148262023926
                    }
                },
                "velocity": {
                    "x": 7.9323601722717285,
                    "y": 1.2842044830322266,
                    "z": 0.05600085109472275
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05660343170166,
                "transform": {
                    "location": {
                        "x": 2902.80908203125,
                        "y": 4254.65673828125,
                        "z": 360.5407409667969
                    },
                    "rotation": {
                        "roll": 0.00046874271356500685,
                        "pitch": 0.392496794462204,
                        "yaw": 9.187711715698242
                    }
                },
                "velocity": {
                    "x": 7.953042984008789,
                    "y": 1.2863826751708984,
                    "z": 0.05644216388463974
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.7284369468688965,
                "transform": {
                    "location": {
                        "x": 2875.363037109375,
                        "y": 4246.71630859375,
                        "z": 360.3380126953125
                    },
                    "rotation": {
                        "roll": -0.0008239794406108558,
                        "pitch": -0.3776206374168396,
                        "yaw": -170.64971923828125
                    }
                },
                "velocity": {
                    "x": -4.6677470207214355,
                    "y": -0.7544542551040649,
                    "z": -0.03245196118950844
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.2262325286865234,
                "transform": {
                    "location": {
                        "x": 2857.833740234375,
                        "y": 4243.88671875,
                        "z": 360.2043762207031
                    },
                    "rotation": {
                        "roll": -0.001892092521302402,
                        "pitch": -0.40310409665107727,
                        "yaw": -170.6964111328125
                    }
                },
                "velocity": {
                    "x": -2.1968905925750732,
                    "y": -0.359875351190567,
                    "z": -0.016513708978891373
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00015920939040370286,
                "transform": {
                    "location": {
                        "x": 2843.78466796875,
                        "y": 4241.60693359375,
                        "z": 360.09967041015625
                    },
                    "rotation": {
                        "roll": 0.0020798761397600174,
                        "pitch": -0.4475959241390228,
                        "yaw": -171.21546936035156
                    }
                },
                "velocity": {
                    "x": -2.1109655790496618e-05,
                    "y": 0.00011699439346557483,
                    "z": -0.00010589769226498902
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 22.246543884277344,
                "transform": {
                    "location": {
                        "x": 2928.98876953125,
                        "y": 4252.20751953125,
                        "z": 360.7166748046875
                    },
                    "rotation": {
                        "roll": -0.0002441474061924964,
                        "pitch": -0.4690222442150116,
                        "yaw": -170.80645751953125
                    }
                },
                "velocity": {
                    "x": -21.959877014160156,
                    "y": -3.555161476135254,
                    "z": -0.18271663784980774
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.91850471496582,
                "transform": {
                    "location": {
                        "x": 2915.05419921875,
                        "y": 4249.88720703125,
                        "z": 360.6244201660156
                    },
                    "rotation": {
                        "roll": 0.001951704383827746,
                        "pitch": -0.8948913216590881,
                        "yaw": -169.40447998046875
                    }
                },
                "velocity": {
                    "x": -13.723599433898926,
                    "y": -2.319007635116577,
                    "z": -0.09893213212490082
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.211466908454895,
                "transform": {
                    "location": {
                        "x": 2854.24462890625,
                        "y": 4240.015625,
                        "z": 360.18658447265625
                    },
                    "rotation": {
                        "roll": -0.0004272462392691523,
                        "pitch": -0.25573593378067017,
                        "yaw": -171.08018493652344
                    }
                },
                "velocity": {
                    "x": -1.1960254907608032,
                    "y": -0.1925944834947586,
                    "z": -0.009075460024178028
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.0532367080450058,
        "expert_target_speed": 0.0,
        "target_point": [
            13.378709476365728,
            -0.04127008261563514
        ],
        "target_point_next": [
            13.378709476365728,
            -0.04127008261563514
        ]
    },
    "740": {
        "acceleration": [
            -6.822652816772461,
            -1.198512315750122,
            -0.04529636353254318
        ],
        "angular_velocity": [
            -0.38831627368927,
            2.025702476501465,
            0.27117735147476196
        ],
        "forward_vector": [
            -0.9855989813804626,
            -0.16907350718975067,
            -0.0029615117236971855
        ],
        "right_vector": [
            0.16907380521297455,
            -0.985603392124176,
            0.0001533974427729845
        ],
        "location": [
            2861.195556640625,
            4241.3017578125,
            360.2315979003906
        ],
        "rotation": [
            -0.00878906436264515,
            -0.16968238353729248,
            -170.26600646972656
        ],
        "velocity": [
            -3.8994855880737305,
            -0.6758579611778259,
            -0.028753599151968956
        ],
        "speed": 3.957621992469995,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 7.501720428466797,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2853.8173828125,
                4239.94677734375,
                360.1827392578125
            ],
            "velocity": [
                -2.158169746398926,
                -0.34941336512565613,
                -0.016177605837583542
            ],
            "speed_kmh": 7.870795574358513,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4725,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.123542785644531,
                "transform": {
                    "location": {
                        "x": 2850.76611328125,
                        "y": 4249.4609375,
                        "z": 360.1719970703125
                    },
                    "rotation": {
                        "roll": -3.0524701287504286e-05,
                        "pitch": 0.702696681022644,
                        "yaw": 9.753230094909668
                    }
                },
                "velocity": {
                    "x": 6.033320903778076,
                    "y": 1.0462905168533325,
                    "z": 0.04571724683046341
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4724,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.364633560180664,
                "transform": {
                    "location": {
                        "x": 2854.11279296875,
                        "y": 4246.73681640625,
                        "z": 360.179443359375
                    },
                    "rotation": {
                        "roll": 0.008666753768920898,
                        "pitch": 0.5371124148368835,
                        "yaw": 9.636244773864746
                    }
                },
                "velocity": {
                    "x": 8.249319076538086,
                    "y": 1.3827283382415771,
                    "z": 0.06251197308301926
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7949562072753906,
                "transform": {
                    "location": {
                        "x": 2890.64208984375,
                        "y": 4249.1953125,
                        "z": 360.44171142578125
                    },
                    "rotation": {
                        "roll": -0.002899172715842724,
                        "pitch": -0.38183486461639404,
                        "yaw": -170.5222930908203
                    }
                },
                "velocity": {
                    "x": -2.7586662769317627,
                    "y": -0.44855228066444397,
                    "z": -0.018490953370928764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036041259765625,
                "transform": {
                    "location": {
                        "x": 2903.309814453125,
                        "y": 4258.0283203125,
                        "z": 360.544921875
                    },
                    "rotation": {
                        "roll": -9.154946019407362e-05,
                        "pitch": 0.4019361138343811,
                        "yaw": 9.185543060302734
                    }
                },
                "velocity": {
                    "x": 7.932485580444336,
                    "y": 1.284679889678955,
                    "z": 0.056832797825336456
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996786117553711,
                "transform": {
                    "location": {
                        "x": 2904.78955078125,
                        "y": 4254.97705078125,
                        "z": 360.55462646484375
                    },
                    "rotation": {
                        "roll": 0.0005460779066197574,
                        "pitch": 0.3951127529144287,
                        "yaw": 9.18764591217041
                    }
                },
                "velocity": {
                    "x": 7.89399528503418,
                    "y": 1.2768151760101318,
                    "z": 0.05625633895397186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.302304744720459,
                "transform": {
                    "location": {
                        "x": 2874.107666015625,
                        "y": 4246.5126953125,
                        "z": 360.32952880859375
                    },
                    "rotation": {
                        "roll": -0.00039673008723184466,
                        "pitch": -0.38251104950904846,
                        "yaw": -170.75120544433594
                    }
                },
                "velocity": {
                    "x": -5.234508037567139,
                    "y": -0.8443615436553955,
                    "z": -0.03764389827847481
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.420596957206726,
                "transform": {
                    "location": {
                        "x": 2857.612548828125,
                        "y": 4243.85009765625,
                        "z": 360.202880859375
                    },
                    "rotation": {
                        "roll": -0.0005798325291834772,
                        "pitch": -0.43722769618034363,
                        "yaw": -170.7490692138672
                    }
                },
                "velocity": {
                    "x": -1.40204918384552,
                    "y": -0.22867606580257416,
                    "z": -0.007817392237484455
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00020362285431474447,
                "transform": {
                    "location": {
                        "x": 2843.78466796875,
                        "y": 4241.60693359375,
                        "z": 360.099609375
                    },
                    "rotation": {
                        "roll": 0.002574877580627799,
                        "pitch": -0.4414282739162445,
                        "yaw": -171.2155303955078
                    }
                },
                "velocity": {
                    "x": 4.62770458398154e-06,
                    "y": -9.9387631053105e-05,
                    "z": 0.00017765964730642736
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 15.245559692382812,
                "transform": {
                    "location": {
                        "x": 2924.397705078125,
                        "y": 4251.46435546875,
                        "z": 360.6802978515625
                    },
                    "rotation": {
                        "roll": -0.0014648425858467817,
                        "pitch": -0.5621928572654724,
                        "yaw": -170.7869110107422
                    }
                },
                "velocity": {
                    "x": -15.048654556274414,
                    "y": -2.4396278858184814,
                    "z": -0.11527679860591888
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.868864059448242,
                "transform": {
                    "location": {
                        "x": 2911.51611328125,
                        "y": 4249.28173828125,
                        "z": 360.5933532714844
                    },
                    "rotation": {
                        "roll": 0.0064130970276892185,
                        "pitch": -0.1894216239452362,
                        "yaw": -170.2145538330078
                    }
                },
                "velocity": {
                    "x": -14.662934303283691,
                    "y": -2.463876962661743,
                    "z": -0.10387808829545975
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1863322257995605,
                "transform": {
                    "location": {
                        "x": 2853.8173828125,
                        "y": 4239.94677734375,
                        "z": 360.1827392578125
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.18468829989433289,
                        "yaw": -171.01730346679688
                    }
                },
                "velocity": {
                    "x": -2.158169746398926,
                    "y": -0.34941336512565613,
                    "z": -0.016177605837583542
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.04271237552165985,
        "expert_target_speed": 0.0,
        "target_point": [
            12.575436556375388,
            -0.055690460547486165
        ],
        "target_point_next": [
            12.575436556375388,
            -0.055690460547486165
        ]
    },
    "745": {
        "acceleration": [
            -4.853124618530273,
            -0.8746099472045898,
            -0.08876226842403412
        ],
        "angular_velocity": [
            -0.0012535130372270942,
            0.1191227063536644,
            0.2509334981441498
        ],
        "forward_vector": [
            -0.9853735566139221,
            -0.17038026452064514,
            0.0030962179880589247
        ],
        "right_vector": [
            0.17038185894489288,
            -0.985378086566925,
            0.0002604559122119099
        ],
        "location": [
            2859.996826171875,
            4241.09326171875,
            360.2216796875
        ],
        "rotation": [
            -0.014923095703125,
            0.17740049958229065,
            -170.1900177001953
        ],
        "velocity": [
            -5.512858867645264,
            -0.9621947407722473,
            -0.040515221655368805
        ],
        "speed": 5.5961979605572205,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 6.566363334655762,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2853.53955078125,
                4239.90185546875,
                360.1860046386719
            ],
            "velocity": [
                -0.004142406862229109,
                -0.0008435210329480469,
                -0.0013113559689372778
            ],
            "speed_kmh": 0.01593410461933981,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4725,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.586480617523193,
                "transform": {
                    "location": {
                        "x": 2852.490478515625,
                        "y": 4249.7568359375,
                        "z": 360.1841735839844
                    },
                    "rotation": {
                        "roll": 0.02231634594500065,
                        "pitch": 0.7773164510726929,
                        "yaw": 9.747685432434082
                    }
                },
                "velocity": {
                    "x": 7.479485988616943,
                    "y": 1.26842200756073,
                    "z": 0.05555812641978264
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4724,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028386116027832,
                "transform": {
                    "location": {
                        "x": 2856.14501953125,
                        "y": 4247.07763671875,
                        "z": 360.1957702636719
                    },
                    "rotation": {
                        "roll": 0.004013248719274998,
                        "pitch": 0.4419815242290497,
                        "yaw": 9.50368595123291
                    }
                },
                "velocity": {
                    "x": 7.918458461761475,
                    "y": 1.3226125240325928,
                    "z": 0.060749683529138565
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4328575134277344,
                "transform": {
                    "location": {
                        "x": 2889.873291015625,
                        "y": 4249.06982421875,
                        "z": 360.4362487792969
                    },
                    "rotation": {
                        "roll": -0.001373296370729804,
                        "pitch": -0.3672455847263336,
                        "yaw": -170.61767578125
                    }
                },
                "velocity": {
                    "x": -3.3884596824645996,
                    "y": -0.5498716831207275,
                    "z": -0.022204866632819176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035548210144043,
                "transform": {
                    "location": {
                        "x": 2905.292724609375,
                        "y": 4258.34912109375,
                        "z": 360.5588684082031
                    },
                    "rotation": {
                        "roll": -0.00012206931569380686,
                        "pitch": 0.40380075573921204,
                        "yaw": 9.215780258178711
                    }
                },
                "velocity": {
                    "x": 7.931788921356201,
                    "y": 1.2859169244766235,
                    "z": 0.0563180036842823
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056401252746582,
                "transform": {
                    "location": {
                        "x": 2906.770751953125,
                        "y": 4255.2978515625,
                        "z": 360.5685729980469
                    },
                    "rotation": {
                        "roll": -0.00042724391096271574,
                        "pitch": 0.3969500958919525,
                        "yaw": 9.190995216369629
                    }
                },
                "velocity": {
                    "x": 7.9527812004089355,
                    "y": 1.2867306470870972,
                    "z": 0.05655476450920105
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.924890995025635,
                "transform": {
                    "location": {
                        "x": 2872.706787109375,
                        "y": 4246.2861328125,
                        "z": 360.31939697265625
                    },
                    "rotation": {
                        "roll": 0.0003330926119815558,
                        "pitch": -0.38507238030433655,
                        "yaw": -170.80165100097656
                    }
                },
                "velocity": {
                    "x": -5.8492560386657715,
                    "y": -0.9427669048309326,
                    "z": -0.041558291763067245
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2733137607574463,
                "transform": {
                    "location": {
                        "x": 2857.233154296875,
                        "y": 4243.78564453125,
                        "z": 360.2000427246094
                    },
                    "rotation": {
                        "roll": 7.015826849965379e-05,
                        "pitch": -0.44253477454185486,
                        "yaw": -171.03558349609375
                    }
                },
                "velocity": {
                    "x": -1.254273533821106,
                    "y": -0.21921855211257935,
                    "z": -0.008316249586641788
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00012760530808009207,
                "transform": {
                    "location": {
                        "x": 2843.78466796875,
                        "y": 4241.60693359375,
                        "z": 360.099609375
                    },
                    "rotation": {
                        "roll": 0.0027198761235922575,
                        "pitch": -0.44018518924713135,
                        "yaw": -171.2155303955078
                    }
                },
                "velocity": {
                    "x": -1.3345255865715444e-05,
                    "y": -1.0421033493912546e-06,
                    "z": 0.00012690127186942846
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.28498649597168,
                "transform": {
                    "location": {
                        "x": 2921.530029296875,
                        "y": 4250.99951171875,
                        "z": 360.6592102050781
                    },
                    "rotation": {
                        "roll": -0.0013122624950483441,
                        "pitch": -0.5740978717803955,
                        "yaw": -170.7322540283203
                    }
                },
                "velocity": {
                    "x": -8.177275657653809,
                    "y": -1.3302875757217407,
                    "z": -0.059115923941135406
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.02524185180664,
                "transform": {
                    "location": {
                        "x": 2907.7548828125,
                        "y": 4248.65478515625,
                        "z": 360.56597900390625
                    },
                    "rotation": {
                        "roll": 0.05376733839511871,
                        "pitch": -0.08502902090549469,
                        "yaw": -170.9377899169922
                    }
                },
                "velocity": {
                    "x": -15.816950798034668,
                    "y": -2.572935104370117,
                    "z": -0.11144400388002396
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004426139872521162,
                "transform": {
                    "location": {
                        "x": 2853.53955078125,
                        "y": 4239.90185546875,
                        "z": 360.1860046386719
                    },
                    "rotation": {
                        "roll": 0.005162219051271677,
                        "pitch": -0.8370327949523926,
                        "yaw": -170.97544860839844
                    }
                },
                "velocity": {
                    "x": -0.004142406862229109,
                    "y": -0.0008435210329480469,
                    "z": -0.0013113559689372778
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.021608106791973114,
        "expert_target_speed": 0.0,
        "target_point": [
            11.358624898290957,
            -0.07357888081987807
        ],
        "target_point_next": [
            11.358624898290957,
            -0.07357888081987807
        ]
    },
    "750": {
        "acceleration": [
            -6.768980026245117,
            -1.227574348449707,
            -0.07376052439212799
        ],
        "angular_velocity": [
            -0.29139244556427,
            1.2701984643936157,
            0.4089239239692688
        ],
        "forward_vector": [
            -0.985089898109436,
            -0.1720326691865921,
            0.0016275636153295636
        ],
        "right_vector": [
            0.1720334142446518,
            -0.9850910305976868,
            0.0003328946768306196
        ],
        "location": [
            2858.554931640625,
            4240.84130859375,
            360.21099853515625
        ],
        "rotation": [
            -0.01907348446547985,
            0.09325256943702698,
            -170.09396362304688
        ],
        "velocity": [
            -6.528709411621094,
            -1.148946762084961,
            -0.0500463992357254
        ],
        "speed": 6.629036524525669,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.104118347167969,
        "front_vehicle_info": {
            "id": 4626,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2853.5380859375,
                4239.90185546875,
                360.184326171875
            ],
            "velocity": [
                0.0033904220908880234,
                0.0007397287408821285,
                -0.001542883226647973
            ],
            "speed_kmh": 0.013671778736996933,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4725,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.661032676696777,
                "transform": {
                    "location": {
                        "x": 2854.502197265625,
                        "y": 4250.09716796875,
                        "z": 360.1999206542969
                    },
                    "rotation": {
                        "roll": 0.016774574294686317,
                        "pitch": 0.7242048978805542,
                        "yaw": 9.575052261352539
                    }
                },
                "velocity": {
                    "x": 8.54117488861084,
                    "y": 1.434412956237793,
                    "z": 0.06534396857023239
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4724,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.922199726104736,
                "transform": {
                    "location": {
                        "x": 2858.090576171875,
                        "y": 4247.4013671875,
                        "z": 360.2106018066406
                    },
                    "rotation": {
                        "roll": 0.005786038935184479,
                        "pitch": 0.4287377893924713,
                        "yaw": 9.418715476989746
                    }
                },
                "velocity": {
                    "x": 7.816768646240234,
                    "y": 1.286755084991455,
                    "z": 0.06030774116516113
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4723,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.253104209899902,
                "transform": {
                    "location": {
                        "x": 2888.92578125,
                        "y": 4248.91552734375,
                        "z": 360.4297180175781
                    },
                    "rotation": {
                        "roll": -0.001647951197810471,
                        "pitch": -0.36270350217819214,
                        "yaw": -170.69705200195312
                    }
                },
                "velocity": {
                    "x": -4.198246955871582,
                    "y": -0.6802623867988586,
                    "z": -0.029333356767892838
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4722,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036745071411133,
                "transform": {
                    "location": {
                        "x": 2907.27587890625,
                        "y": 4258.671875,
                        "z": 360.5728454589844
                    },
                    "rotation": {
                        "roll": 0.00044742514728568494,
                        "pitch": 0.40379393100738525,
                        "yaw": 9.19211196899414
                    }
                },
                "velocity": {
                    "x": 7.933014869689941,
                    "y": 1.2857885360717773,
                    "z": 0.057384297251701355
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4721,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996879577636719,
                "transform": {
                    "location": {
                        "x": 2908.75146484375,
                        "y": 4255.61865234375,
                        "z": 360.5826110839844
                    },
                    "rotation": {
                        "roll": -3.051647581742145e-05,
                        "pitch": 0.3989035189151764,
                        "yaw": 9.193135261535645
                    }
                },
                "velocity": {
                    "x": 7.893716812133789,
                    "y": 1.2791190147399902,
                    "z": 0.05631035566329956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4717,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.000879764556885,
                "transform": {
                    "location": {
                        "x": 2871.115966796875,
                        "y": 4246.02978515625,
                        "z": 360.3080139160156
                    },
                    "rotation": {
                        "roll": 0.00034016312565654516,
                        "pitch": -0.38598763942718506,
                        "yaw": -170.81246948242188
                    }
                },
                "velocity": {
                    "x": -6.911242485046387,
                    "y": -1.115621566772461,
                    "z": -0.04935069754719734
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4714,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5991349816322327,
                "transform": {
                    "location": {
                        "x": 2856.87451171875,
                        "y": 4243.7265625,
                        "z": 360.19744873046875
                    },
                    "rotation": {
                        "roll": 0.0036852157209068537,
                        "pitch": -0.4972240924835205,
                        "yaw": -171.06298828125
                    }
                },
                "velocity": {
                    "x": -0.5911563634872437,
                    "y": -0.097118079662323,
                    "z": -0.008059892803430557
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4708,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003982115304097533,
                "transform": {
                    "location": {
                        "x": 2843.78466796875,
                        "y": 4241.60693359375,
                        "z": 360.099609375
                    },
                    "rotation": {
                        "roll": 0.002604193054139614,
                        "pitch": -0.44008955359458923,
                        "yaw": -171.21554565429688
                    }
                },
                "velocity": {
                    "x": -1.6560330550419167e-05,
                    "y": 1.1099604307673872e-05,
                    "z": 0.0003977121668867767
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4704,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.3643009662628174,
                "transform": {
                    "location": {
                        "x": 2920.374267578125,
                        "y": 4250.8115234375,
                        "z": 360.65057373046875
                    },
                    "rotation": {
                        "roll": -0.0008239694871008396,
                        "pitch": -0.5733055472373962,
                        "yaw": -170.69912719726562
                    }
                },
                "velocity": {
                    "x": -1.3469613790512085,
                    "y": -0.2165830433368683,
                    "z": -0.010193051770329475
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4700,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 17.04095458984375,
                "transform": {
                    "location": {
                        "x": 2903.609375,
                        "y": 4247.9873046875,
                        "z": 360.53668212890625
                    },
                    "rotation": {
                        "roll": 0.040417954325675964,
                        "pitch": -0.058227360248565674,
                        "yaw": -171.0634765625
                    }
                },
                "velocity": {
                    "x": -16.827638626098633,
                    "y": -2.6852633953094482,
                    "z": -0.11849980801343918
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4626,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0037977162282913923,
                "transform": {
                    "location": {
                        "x": 2853.5380859375,
                        "y": 4239.90185546875,
                        "z": 360.184326171875
                    },
                    "rotation": {
                        "roll": 0.0023806181270629168,
                        "pitch": -0.6448107957839966,
                        "yaw": -170.97547912597656
                    }
                },
                "velocity": {
                    "x": 0.0033904220908880234,
                    "y": 0.0007397287408821285,
                    "z": -0.001542883226647973
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4625,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.9375,
                        "y": 4238.34326171875,
                        "z": 360.0987548828125
                    },
                    "rotation": {
                        "roll": 0.00049906614003703,
                        "pitch": -0.4513866901397705,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.001309973536990583,
        "expert_target_speed": 0.0,
        "target_point": [
            9.894743772092628,
            -0.09276083287595194
        ],
        "target_point_next": [
            9.894743772092628,
            -0.09276083287595194
        ]
    }
}