{
    "0": {
        "acceleration": [
            0.0038789736572653055,
            -0.003871049266308546,
            -0.5745404958724976
        ],
        "angular_velocity": [
            0.012052885256707668,
            0.04335429519414902,
            -0.00016259972471743822
        ],
        "forward_vector": [
            0.3019205927848816,
            -0.9532955884933472,
            0.008458870463073254
        ],
        "right_vector": [
            0.9533293843269348,
            0.30193236470222473,
            0.00012250056897755712
        ],
        "location": [
            207.10850524902344,
            5664.78125,
            364.736083984375
        ],
        "rotation": [
            -0.007019016891717911,
            0.48466336727142334,
            -72.42635345458984
        ],
        "velocity": [
            -0.00021050340728834271,
            0.0016109375283122063,
            0.2053961455821991
        ],
        "speed": 0.0016246326983674316,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03689204901456833,
        "expert_target_speed": 1.3954117118772436,
        "target_point": [
            50.89733907276566,
            -5.517963906221283
        ],
        "target_point_next": [
            70.9647228808599,
            -10.849938917762184
        ]
    },
    "5": {
        "acceleration": [
            -0.0012780557153746486,
            -0.002923620631918311,
            -0.39350971579551697
        ],
        "angular_velocity": [
            -0.0019920417107641697,
            0.027757441624999046,
            -0.00011049112072214484
        ],
        "forward_vector": [
            0.3019215762615204,
            -0.953295886516571,
            0.008382461033761501
        ],
        "right_vector": [
            0.9533292651176453,
            0.30193251371383667,
            3.994581857114099e-05
        ],
        "location": [
            207.10850524902344,
            5664.78125,
            364.7684020996094
        ],
        "rotation": [
            -0.0022888071835041046,
            0.4802852272987366,
            -72.42630767822266
        ],
        "velocity": [
            4.7646684834035113e-05,
            0.0006222253432497382,
            0.07207003235816956
        ],
        "speed": 0.0006240469408289158,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.108258247375488,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                211.20936584472656,
                5650.2412109375,
                364.94061279296875
            ],
            "velocity": [
                0.00041736586717888713,
                -0.0017278456361964345,
                -0.23192420601844788
            ],
            "speed_kmh": 0.8349516638033473,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 215.4304656982422,
                        "y": 5595.4716796875,
                        "z": 365.39093017578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.40450426936149597,
                        "yaw": 90.58592224121094
                    }
                },
                "velocity": {
                    "x": 7.951975189435245e-11,
                    "y": -7.775712518309774e-09,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45700618624687195,
                "transform": {
                    "location": {
                        "x": 196.20733642578125,
                        "y": 5692.87158203125,
                        "z": 364.512451171875
                    },
                    "rotation": {
                        "roll": 0.001526458072476089,
                        "pitch": 0.5526168942451477,
                        "yaw": -65.15272521972656
                    }
                },
                "velocity": {
                    "x": 0.0018573825946077704,
                    "y": -0.003980586770921946,
                    "z": -0.45698508620262146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45550811290740967,
                "transform": {
                    "location": {
                        "x": 202.10797119140625,
                        "y": 5678.9892578125,
                        "z": 364.6527404785156
                    },
                    "rotation": {
                        "roll": 0.00046311054029501975,
                        "pitch": 0.5106795430183411,
                        "yaw": -68.7923355102539
                    }
                },
                "velocity": {
                    "x": 0.0013185864081606269,
                    "y": -0.0038074383046478033,
                    "z": -0.4554902911186218
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23193101584911346,
                "transform": {
                    "location": {
                        "x": 211.20936584472656,
                        "y": 5650.2412109375,
                        "z": 364.94061279296875
                    },
                    "rotation": {
                        "roll": 4.9920581659534946e-05,
                        "pitch": 0.4453624486923218,
                        "yaw": -76.07157135009766
                    }
                },
                "velocity": {
                    "x": 0.00041736586717888713,
                    "y": -0.0017278456361964345,
                    "z": -0.23192420601844788
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35636699199676514,
                "transform": {
                    "location": {
                        "x": 214.37367248535156,
                        "y": 5635.49169921875,
                        "z": 365.0206298828125
                    },
                    "rotation": {
                        "roll": -0.0010071085998788476,
                        "pitch": 0.43719354271888733,
                        "yaw": -79.71119689941406
                    }
                },
                "velocity": {
                    "x": 0.0003346976882312447,
                    "y": -0.0026157947722822428,
                    "z": -0.356357216835022
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.033788856118917465,
        "expert_target_speed": 1.0730650106639774,
        "target_point": [
            50.89733677048728,
            -5.517985142245513
        ],
        "target_point_next": [
            70.96471835390643,
            -10.849968526550933
        ]
    },
    "10": {
        "acceleration": [
            0.0007291488000191748,
            -5.8990553952753544e-05,
            -0.12336920946836472
        ],
        "angular_velocity": [
            0.0024272571317851543,
            0.0031192225869745016,
            7.725753675913438e-05
        ],
        "forward_vector": [
            0.30192190408706665,
            -0.9532960653305054,
            0.008350037038326263
        ],
        "right_vector": [
            0.95332932472229,
            0.3019323945045471,
            -4.352535597718088e-06
        ],
        "location": [
            207.10842895507812,
            5664.78125,
            364.7781982421875
        ],
        "rotation": [
            0.00024939063587225974,
            0.4784274101257324,
            -72.4262924194336
        ],
        "velocity": [
            -3.144692527712323e-05,
            0.00015881084254942834,
            0.019189676269888878
        ],
        "speed": 0.00016189438786024763,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.108101844787598,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                211.20936584472656,
                5650.2412109375,
                364.93414306640625
            ],
            "velocity": [
                2.327304355276283e-05,
                0.00022078162874095142,
                0.02483350783586502
            ],
            "speed_kmh": 0.08940420053244508,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2311939001083374,
                "transform": {
                    "location": {
                        "x": 215.43038940429688,
                        "y": 5595.47119140625,
                        "z": 365.2594299316406
                    },
                    "rotation": {
                        "roll": -0.0013732491061091423,
                        "pitch": -0.40511900186538696,
                        "yaw": 90.57908630371094
                    }
                },
                "velocity": {
                    "x": -2.9345204893616028e-05,
                    "y": 0.0015715810004621744,
                    "z": 0.23118856549263
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09468352794647217,
                "transform": {
                    "location": {
                        "x": 196.20733642578125,
                        "y": 5692.87158203125,
                        "z": 364.5052795410156
                    },
                    "rotation": {
                        "roll": 0.0012913125101476908,
                        "pitch": 0.5518246293067932,
                        "yaw": -65.15264129638672
                    }
                },
                "velocity": {
                    "x": -0.0004983611288480461,
                    "y": 0.0008183420286513865,
                    "z": 0.09467867761850357
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09467608481645584,
                "transform": {
                    "location": {
                        "x": 202.10797119140625,
                        "y": 5678.9892578125,
                        "z": 364.64556884765625
                    },
                    "rotation": {
                        "roll": 0.0016288778278976679,
                        "pitch": 0.510208249092102,
                        "yaw": -68.79227447509766
                    }
                },
                "velocity": {
                    "x": -0.0003043141041416675,
                    "y": 0.000806921161711216,
                    "z": 0.09467215090990067
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.02483450062572956,
                "transform": {
                    "location": {
                        "x": 211.20936584472656,
                        "y": 5650.2412109375,
                        "z": 364.93414306640625
                    },
                    "rotation": {
                        "roll": 0.0006717800861224532,
                        "pitch": 0.44568347930908203,
                        "yaw": -76.07156372070312
                    }
                },
                "velocity": {
                    "x": 2.327304355276283e-05,
                    "y": 0.00022078162874095142,
                    "z": 0.02483350783586502
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04457535594701767,
                "transform": {
                    "location": {
                        "x": 214.37367248535156,
                        "y": 5635.49169921875,
                        "z": 365.01312255859375
                    },
                    "rotation": {
                        "roll": -0.0014953480567783117,
                        "pitch": 0.438060998916626,
                        "yaw": -79.7111587524414
                    }
                },
                "velocity": {
                    "x": -0.00013825789210386574,
                    "y": 0.00034759871778078377,
                    "z": 0.04457378759980202
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0359237939119339,
        "expert_target_speed": 1.021072486038384,
        "target_point": [
            50.89735766825249,
            -5.517932128150193
        ],
        "target_point_next": [
            70.96473718589878,
            -10.849923287164694
        ]
    },
    "15": {
        "acceleration": [
            7.084384560585022e-05,
            -0.00023691063688602298,
            -0.0257093645632267
        ],
        "angular_velocity": [
            0.0012027047341689467,
            0.009193247184157372,
            5.338833943824284e-05
        ],
        "forward_vector": [
            0.30192211270332336,
            -0.9532960653305054,
            0.008340499363839626
        ],
        "right_vector": [
            0.95332932472229,
            0.3019324839115143,
            -1.7267650036956184e-05
        ],
        "location": [
            207.10842895507812,
            5664.78125,
            364.7806701660156
        ],
        "rotation": [
            0.0009893978713080287,
            0.47788098454475403,
            -72.42628479003906
        ],
        "velocity": [
            3.7180818708293373e-06,
            4.436351082404144e-05,
            0.004691076464951038
        ],
        "speed": 4.4519043402043487e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.172525405883789,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                211.22506713867188,
                5650.1787109375,
                364.93768310546875
            ],
            "velocity": [
                0.2127537727355957,
                -0.8543954491615295,
                0.013021917082369328
            ],
            "speed_kmh": 3.1700965551613995,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09142927080392838,
                "transform": {
                    "location": {
                        "x": 215.43038940429688,
                        "y": 5595.47119140625,
                        "z": 365.30584716796875
                    },
                    "rotation": {
                        "roll": -0.0003967478114645928,
                        "pitch": -0.40491408109664917,
                        "yaw": 90.5815200805664
                    }
                },
                "velocity": {
                    "x": -4.984209226677194e-05,
                    "y": 0.000631687871646136,
                    "z": 0.09142707288265228
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020341338589787483,
                "transform": {
                    "location": {
                        "x": 196.20733642578125,
                        "y": 5692.87158203125,
                        "z": 364.5192565917969
                    },
                    "rotation": {
                        "roll": 0.0016082905931398273,
                        "pitch": 0.5519270896911621,
                        "yaw": -65.15264129638672
                    }
                },
                "velocity": {
                    "x": -0.00018894620006904006,
                    "y": 0.00016296259127557278,
                    "z": 0.020339807495474815
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020490216091275215,
                "transform": {
                    "location": {
                        "x": 202.10797119140625,
                        "y": 5678.9892578125,
                        "z": 364.6595764160156
                    },
                    "rotation": {
                        "roll": 0.0002484313154127449,
                        "pitch": 0.5106453895568848,
                        "yaw": -68.79226684570312
                    }
                },
                "velocity": {
                    "x": -3.612026557675563e-05,
                    "y": 0.00021230742277111858,
                    "z": 0.020489083603024483
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8805823922157288,
                "transform": {
                    "location": {
                        "x": 211.22506713867188,
                        "y": 5650.1787109375,
                        "z": 364.93768310546875
                    },
                    "rotation": {
                        "roll": 0.0006837137625552714,
                        "pitch": 0.51744145154953,
                        "yaw": -76.06607818603516
                    }
                },
                "velocity": {
                    "x": 0.2127537727355957,
                    "y": -0.8543954491615295,
                    "z": 0.013021917082369328
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.22714364528656,
                "transform": {
                    "location": {
                        "x": 214.39413452148438,
                        "y": 5635.37939453125,
                        "z": 365.0206604003906
                    },
                    "rotation": {
                        "roll": -0.0010986081324517727,
                        "pitch": 0.6384245753288269,
                        "yaw": -79.72280883789062
                    }
                },
                "velocity": {
                    "x": 0.22106331586837769,
                    "y": -1.2068819999694824,
                    "z": 0.021177692338824272
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03513513132929802,
        "expert_target_speed": 1.0116573546610983,
        "target_point": [
            50.89735766825249,
            -5.517932128150193
        ],
        "target_point_next": [
            70.96473718589878,
            -10.849923287164694
        ]
    },
    "20": {
        "acceleration": [
            0.0010493170702829957,
            0.0006484404439106584,
            -0.00037410296499729156
        ],
        "angular_velocity": [
            -0.0021209914702922106,
            0.01263534463942051,
            1.1231260032218415e-05
        ],
        "forward_vector": [
            0.3019215762615204,
            -0.9532963037490845,
            0.008336088620126247
        ],
        "right_vector": [
            0.9533295035362244,
            0.30193185806274414,
            -2.5670973627711646e-05
        ],
        "location": [
            207.10842895507812,
            5664.78125,
            364.7810363769531
        ],
        "rotation": [
            0.0014708895469084382,
            0.47762826085090637,
            -72.42631530761719
        ],
        "velocity": [
            3.122875568806194e-05,
            3.7393197999335825e-05,
            0.0019928496330976486
        ],
        "speed": 4.87184404352417e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.525710105895996,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                211.31077575683594,
                5649.8359375,
                364.9410095214844
            ],
            "velocity": [
                0.4445000886917114,
                -1.7860671281814575,
                0.014030847698450089
            ],
            "speed_kmh": 6.62616451799693,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.20725154876709,
                "transform": {
                    "location": {
                        "x": 215.42257690429688,
                        "y": 5595.701171875,
                        "z": 365.3134765625
                    },
                    "rotation": {
                        "roll": 0.012500801123678684,
                        "pitch": -0.5954217314720154,
                        "yaw": 90.7562484741211
                    }
                },
                "velocity": {
                    "x": -0.089409738779068,
                    "y": 2.205394744873047,
                    "z": -0.014125050976872444
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.164538860321045,
                "transform": {
                    "location": {
                        "x": 196.30226135253906,
                        "y": 5692.666015625,
                        "z": 364.5243225097656
                    },
                    "rotation": {
                        "roll": 0.003687750082463026,
                        "pitch": 0.3650257885456085,
                        "yaw": -65.09742736816406
                    }
                },
                "velocity": {
                    "x": 0.9112603068351746,
                    "y": -1.9632710218429565,
                    "z": 0.02001236006617546
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.133826494216919,
                "transform": {
                    "location": {
                        "x": 202.18875122070312,
                        "y": 5678.78173828125,
                        "z": 364.66448974609375
                    },
                    "rotation": {
                        "roll": 0.002482052892446518,
                        "pitch": 0.3231908679008484,
                        "yaw": -68.79694366455078
                    }
                },
                "velocity": {
                    "x": 0.7733445763587952,
                    "y": -1.9886754751205444,
                    "z": 0.01799948699772358
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8406013250350952,
                "transform": {
                    "location": {
                        "x": 211.31077575683594,
                        "y": 5649.8359375,
                        "z": 364.9410095214844
                    },
                    "rotation": {
                        "roll": 0.0024560722522437572,
                        "pitch": 0.5485051274299622,
                        "yaw": -76.0900650024414
                    }
                },
                "velocity": {
                    "x": 0.4445000886917114,
                    "y": -1.7860671281814575,
                    "z": 0.014030847698450089
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6142754554748535,
                "transform": {
                    "location": {
                        "x": 214.48179626464844,
                        "y": 5634.89990234375,
                        "z": 365.0257873535156
                    },
                    "rotation": {
                        "roll": -0.001709039555862546,
                        "pitch": 0.7109543681144714,
                        "yaw": -79.69872283935547
                    }
                },
                "velocity": {
                    "x": 0.4689914882183075,
                    "y": -2.5717687606811523,
                    "z": 0.022094067186117172
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.036028049886226654,
        "expert_target_speed": 1.023780543270806,
        "target_point": [
            50.89735980606216,
            -5.517912408976775
        ],
        "target_point_next": [
            70.96474138948132,
            -10.849895793282196
        ]
    },
    "25": {
        "acceleration": [
            -3.935172571800649e-05,
            1.706481270957738e-05,
            0.008576501160860062
        ],
        "angular_velocity": [
            0.0012614926090463996,
            -0.0002967115433420986,
            0.00012131877156207338
        ],
        "forward_vector": [
            0.3019215762615204,
            -0.9532963037490845,
            0.008336088620126247
        ],
        "right_vector": [
            0.9533295035362244,
            0.30193188786506653,
            -2.246908661618363e-05
        ],
        "location": [
            207.10842895507812,
            5664.78125,
            364.78118896484375
        ],
        "rotation": [
            0.0012874285457655787,
            0.47762826085090637,
            -72.42631530761719
        ],
        "velocity": [
            -6.745289738319116e-06,
            1.5123411685635801e-05,
            0.0005107778124511242
        ],
        "speed": 1.655948413046429e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.131349563598633,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                211.45733642578125,
                5649.248046875,
                364.94561767578125
            ],
            "velocity": [
                0.7250804901123047,
                -2.9135801792144775,
                0.023044327273964882
            ],
            "speed_kmh": 10.809129472653536,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.373100757598877,
                "transform": {
                    "location": {
                        "x": 215.3974151611328,
                        "y": 5596.41162109375,
                        "z": 365.307373046875
                    },
                    "rotation": {
                        "roll": 0.006912603974342346,
                        "pitch": -0.5505678653717041,
                        "yaw": 91.21981811523438
                    }
                },
                "velocity": {
                    "x": -0.13796012103557587,
                    "y": 3.370176076889038,
                    "z": -0.026232728734612465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3233723640441895,
                "transform": {
                    "location": {
                        "x": 196.59695434570312,
                        "y": 5692.0302734375,
                        "z": 364.5305480957031
                    },
                    "rotation": {
                        "roll": 0.0034649537410587072,
                        "pitch": 0.4056449234485626,
                        "yaw": -65.10183715820312
                    }
                },
                "velocity": {
                    "x": 1.3990954160690308,
                    "y": -3.0143678188323975,
                    "z": 0.030390538275241852
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.346860885620117,
                "transform": {
                    "location": {
                        "x": 202.4431915283203,
                        "y": 5678.12744140625,
                        "z": 364.6701354980469
                    },
                    "rotation": {
                        "roll": 0.005291340872645378,
                        "pitch": 0.3618975579738617,
                        "yaw": -68.7779312133789
                    }
                },
                "velocity": {
                    "x": 1.2135310173034668,
                    "y": -3.1189677715301514,
                    "z": 0.029349908232688904
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0025360584259033,
                "transform": {
                    "location": {
                        "x": 211.45733642578125,
                        "y": 5649.248046875,
                        "z": 364.94561767578125
                    },
                    "rotation": {
                        "roll": 0.0031250962056219578,
                        "pitch": 0.5638525485992432,
                        "yaw": -76.08335876464844
                    }
                },
                "velocity": {
                    "x": 0.7250804901123047,
                    "y": -2.9135801792144775,
                    "z": 0.023044327273964882
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.211336135864258,
                "transform": {
                    "location": {
                        "x": 214.63702392578125,
                        "y": 5634.0478515625,
                        "z": 365.0325012207031
                    },
                    "rotation": {
                        "roll": 0.002249542623758316,
                        "pitch": 0.7561155557632446,
                        "yaw": -79.68351745605469
                    }
                },
                "velocity": {
                    "x": 0.7555462718009949,
                    "y": -4.142891883850098,
                    "z": 0.03079596534371376
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03742985054850578,
        "expert_target_speed": 1.0432365966022639,
        "target_point": [
            50.89735980606216,
            -5.517912408976775
        ],
        "target_point_next": [
            70.96474138948132,
            -10.849895793282196
        ]
    },
    "30": {
        "acceleration": [
            1.7676211427897215e-06,
            -5.136425897944719e-06,
            -0.004660456907004118
        ],
        "angular_velocity": [
            0.0023698671720921993,
            -0.00381528795696795,
            0.00015433791850227863
        ],
        "forward_vector": [
            0.3019215762615204,
            -0.9532963037490845,
            0.00833430141210556
        ],
        "right_vector": [
            0.9533295035362244,
            0.30193188786506653,
            -2.3225786208058707e-05
        ],
        "location": [
            207.10842895507812,
            5664.78125,
            364.7812805175781
        ],
        "rotation": [
            0.001330785802565515,
            0.47752583026885986,
            -72.42631530761719
        ],
        "velocity": [
            -2.5309231205028482e-05,
            1.6863867131178267e-05,
            0.0014030184829607606
        ],
        "speed": 3.041294459284767e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.06315803527832,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                211.67991638183594,
                5648.3427734375,
                364.9526062011719
            ],
            "velocity": [
                0.9704734086990356,
                -4.262484550476074,
                0.03360341861844063
            ],
            "speed_kmh": 15.73810413971056,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.5150604248046875,
                "transform": {
                    "location": {
                        "x": 215.36045837402344,
                        "y": 5597.40283203125,
                        "z": 365.29986572265625
                    },
                    "rotation": {
                        "roll": 0.0027928901836276054,
                        "pitch": -0.5237115621566772,
                        "yaw": 91.65133666992188
                    }
                },
                "velocity": {
                    "x": -0.1852617859840393,
                    "y": 4.511145114898682,
                    "z": -0.03192370757460594
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.453009128570557,
                "transform": {
                    "location": {
                        "x": 197.0070343017578,
                        "y": 5691.14111328125,
                        "z": 364.53961181640625
                    },
                    "rotation": {
                        "roll": -0.014068599790334702,
                        "pitch": 0.431169331073761,
                        "yaw": -65.19932556152344
                    }
                },
                "velocity": {
                    "x": 1.7827476263046265,
                    "y": -4.080358982086182,
                    "z": 0.04209291189908981
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.4643425941467285,
                "transform": {
                    "location": {
                        "x": 202.7967071533203,
                        "y": 5677.2109375,
                        "z": 364.6785888671875
                    },
                    "rotation": {
                        "roll": -0.015624999068677425,
                        "pitch": 0.3859125077724457,
                        "yaw": -68.87064361572266
                    }
                },
                "velocity": {
                    "x": 1.5213686227798462,
                    "y": -4.196938514709473,
                    "z": 0.038707178086042404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.371695518493652,
                "transform": {
                    "location": {
                        "x": 211.67991638183594,
                        "y": 5648.3427734375,
                        "z": 364.9526062011719
                    },
                    "rotation": {
                        "roll": 0.023353643715381622,
                        "pitch": 0.5872186422348022,
                        "yaw": -76.15677642822266
                    }
                },
                "velocity": {
                    "x": 0.9704734086990356,
                    "y": -4.262484550476074,
                    "z": 0.03360341861844063
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.347558498382568,
                "transform": {
                    "location": {
                        "x": 214.84405517578125,
                        "y": 5632.8369140625,
                        "z": 365.0420227050781
                    },
                    "rotation": {
                        "roll": 0.03771866858005524,
                        "pitch": 0.7032635807991028,
                        "yaw": -80.12295532226562
                    }
                },
                "velocity": {
                    "x": 0.8784341812133789,
                    "y": -5.274763107299805,
                    "z": 0.040102843195199966
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03606818988919258,
        "expert_target_speed": 1.069416721010785,
        "target_point": [
            50.89735980606216,
            -5.517912408976775
        ],
        "target_point_next": [
            70.96474138948132,
            -10.849895793282196
        ]
    },
    "35": {
        "acceleration": [
            -0.0011767219984903932,
            -0.0008374004974029958,
            -5.58607280254364e-05
        ],
        "angular_velocity": [
            0.00099306704942137,
            -0.0019300748826935887,
            0.0001333696854999289
        ],
        "forward_vector": [
            0.3019215762615204,
            -0.9532963037490845,
            0.00833430141210556
        ],
        "right_vector": [
            0.9533295035362244,
            0.30193188786506653,
            -2.3225786208058707e-05
        ],
        "location": [
            207.10842895507812,
            5664.78125,
            364.78131103515625
        ],
        "rotation": [
            0.001330785802565515,
            0.47752583026885986,
            -72.42631530761719
        ],
        "velocity": [
            -1.1012535651389044e-05,
            1.558013173053041e-05,
            0.00042233942076563835
        ],
        "speed": 1.907921503138416e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.309738159179688,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                211.96194458007812,
                5647.12744140625,
                364.9627685546875
            ],
            "velocity": [
                1.1860376596450806,
                -5.203705310821533,
                0.042132243514060974
            ],
            "speed_kmh": 19.21436030827312,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.199763298034668,
                "transform": {
                    "location": {
                        "x": 215.31187438964844,
                        "y": 5598.6552734375,
                        "z": 365.291015625
                    },
                    "rotation": {
                        "roll": -0.0007019340409897268,
                        "pitch": -0.4876413345336914,
                        "yaw": 91.99082946777344
                    }
                },
                "velocity": {
                    "x": -0.21366016566753387,
                    "y": 5.195245265960693,
                    "z": -0.0362497940659523
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.26978063583374,
                "transform": {
                    "location": {
                        "x": 197.51039123535156,
                        "y": 5690.0068359375,
                        "z": 364.551513671875
                    },
                    "rotation": {
                        "roll": -0.004058861173689365,
                        "pitch": 0.4560243785381317,
                        "yaw": -65.69371032714844
                    }
                },
                "velocity": {
                    "x": 2.1222455501556396,
                    "y": -4.8232808113098145,
                    "z": 0.05123145878314972
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.157737731933594,
                "transform": {
                    "location": {
                        "x": 203.226318359375,
                        "y": 5676.048828125,
                        "z": 364.68939208984375
                    },
                    "rotation": {
                        "roll": -0.00411986093968153,
                        "pitch": 0.41829442977905273,
                        "yaw": -69.35350799560547
                    }
                },
                "velocity": {
                    "x": 1.77299964427948,
                    "y": -4.843204975128174,
                    "z": 0.04576005041599274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.337322235107422,
                "transform": {
                    "location": {
                        "x": 211.96194458007812,
                        "y": 5647.12744140625,
                        "z": 364.9627685546875
                    },
                    "rotation": {
                        "roll": 0.015884824097156525,
                        "pitch": 0.5627392530441284,
                        "yaw": -76.65208435058594
                    }
                },
                "velocity": {
                    "x": 1.1860376596450806,
                    "y": -5.203705310821533,
                    "z": 0.042132243514060974
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.462080955505371,
                "transform": {
                    "location": {
                        "x": 215.0633544921875,
                        "y": 5631.5068359375,
                        "z": 365.0519104003906
                    },
                    "rotation": {
                        "roll": 0.02045130357146263,
                        "pitch": 0.5187391638755798,
                        "yaw": -80.48982238769531
                    }
                },
                "velocity": {
                    "x": 0.8819493055343628,
                    "y": -5.390252113342285,
                    "z": 0.04093662276864052
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03431306779384613,
        "expert_target_speed": 1.0929326884779638,
        "target_point": [
            50.89735980606216,
            -5.517912408976775
        ],
        "target_point_next": [
            70.96474138948132,
            -10.849895793282196
        ]
    },
    "40": {
        "acceleration": [
            0.7194766402244568,
            -2.219984531402588,
            -0.0011564232409000397
        ],
        "angular_velocity": [
            -0.7226311564445496,
            -0.2568272054195404,
            0.22841815650463104
        ],
        "forward_vector": [
            0.3025580048561096,
            -0.9530550241470337,
            0.01203507836908102
        ],
        "right_vector": [
            0.9531238675117493,
            0.30258050560951233,
            5.112867438583635e-05
        ],
        "location": [
            207.13304138183594,
            5664.703125,
            364.7812805175781
        ],
        "rotation": [
            -0.0029296695720404387,
            0.6895758509635925,
            -72.38737487792969
        ],
        "velocity": [
            0.24185781180858612,
            -0.7570325136184692,
            0.006216211244463921
        ],
        "speed": 0.7947285245971326,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.60423469543457,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                212.269287109375,
                5645.78466796875,
                364.97357177734375
            ],
            "velocity": [
                1.2890498638153076,
                -5.666975975036621,
                0.044676151126623154
            ],
            "speed_kmh": 20.92286496303389,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.89297342300415,
                "transform": {
                    "location": {
                        "x": 215.25062561035156,
                        "y": 5600.03759765625,
                        "z": 365.2808837890625
                    },
                    "rotation": {
                        "roll": 0.0045281643979251385,
                        "pitch": -0.4652383029460907,
                        "yaw": 92.35460662841797
                    }
                },
                "velocity": {
                    "x": -0.2887580990791321,
                    "y": 5.88574743270874,
                    "z": -0.041619934141635895
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.7400922775268555,
                "transform": {
                    "location": {
                        "x": 198.06320190429688,
                        "y": 5688.7568359375,
                        "z": 364.5641784667969
                    },
                    "rotation": {
                        "roll": -0.0006408727494999766,
                        "pitch": 0.47807905077934265,
                        "yaw": -66.02457427978516
                    }
                },
                "velocity": {
                    "x": 2.309659242630005,
                    "y": -5.254642963409424,
                    "z": 0.053482893854379654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8401307463645935,
                "transform": {
                    "location": {
                        "x": 203.49156188964844,
                        "y": 5675.3291015625,
                        "z": 364.69244384765625
                    },
                    "rotation": {
                        "roll": 0.00816128309816122,
                        "pitch": 0.8327844142913818,
                        "yaw": -69.50672149658203
                    }
                },
                "velocity": {
                    "x": 0.2910056710243225,
                    "y": -0.7880879640579224,
                    "z": 0.007258939556777477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.811906814575195,
                "transform": {
                    "location": {
                        "x": 212.269287109375,
                        "y": 5645.78466796875,
                        "z": 364.97357177734375
                    },
                    "rotation": {
                        "roll": 0.006765369325876236,
                        "pitch": 0.5223864912986755,
                        "yaw": -76.83052825927734
                    }
                },
                "velocity": {
                    "x": 1.2890498638153076,
                    "y": -5.666975975036621,
                    "z": 0.044676151126623154
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.87095832824707,
                "transform": {
                    "location": {
                        "x": 215.32179260253906,
                        "y": 5629.9169921875,
                        "z": 365.0639343261719
                    },
                    "rotation": {
                        "roll": 0.014626151882112026,
                        "pitch": 0.664659321308136,
                        "yaw": -80.69437408447266
                    }
                },
                "velocity": {
                    "x": 1.0980565547943115,
                    "y": -6.782454013824463,
                    "z": 0.05160811170935631
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03864087164402008,
        "expert_target_speed": 1.9009061655035029,
        "target_point": [
            50.81168731004663,
            -5.552327310593425
        ],
        "target_point_next": [
            70.875439941466,
            -10.897949890824055
        ]
    },
    "45": {
        "acceleration": [
            0.8502548933029175,
            -2.639622688293457,
            0.030889511108398438
        ],
        "angular_velocity": [
            -0.04151644930243492,
            -0.036076731979846954,
            1.0953383445739746
        ],
        "forward_vector": [
            0.3033568263053894,
            -0.9527936577796936,
            0.012603426352143288
        ],
        "right_vector": [
            0.9528690576553345,
            0.3033818006515503,
            7.189949974417686e-05
        ],
        "location": [
            207.21209716796875,
            5664.455078125,
            364.7832336425781
        ],
        "rotation": [
            -0.004119865130633116,
            0.722142219543457,
            -72.33921813964844
        ],
        "velocity": [
            0.39744484424591064,
            -1.2424269914627075,
            0.01028132438659668
        ],
        "speed": 1.3044490152293156,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.99232292175293,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                212.63671875,
                5644.1767578125,
                364.9853515625
            ],
            "velocity": [
                1.7309974431991577,
                -7.634772300720215,
                0.06110130995512009
            ],
            "speed_kmh": 28.183616579240006,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.284247398376465,
                "transform": {
                    "location": {
                        "x": 215.1746063232422,
                        "y": 5601.623046875,
                        "z": 365.2702331542969
                    },
                    "rotation": {
                        "roll": 0.0007366269710473716,
                        "pitch": -0.5489764213562012,
                        "yaw": 92.62532043457031
                    }
                },
                "velocity": {
                    "x": -0.3612516224384308,
                    "y": 7.275107383728027,
                    "z": -0.05063050240278244
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.933906078338623,
                "transform": {
                    "location": {
                        "x": 198.68405151367188,
                        "y": 5687.34814453125,
                        "z": 364.5791320800781
                    },
                    "rotation": {
                        "roll": 0.004709433764219284,
                        "pitch": 0.41808268427848816,
                        "yaw": -66.21723937988281
                    }
                },
                "velocity": {
                    "x": 2.7877211570739746,
                    "y": -6.348495960235596,
                    "z": 0.06530177593231201
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.269513726234436,
                "transform": {
                    "location": {
                        "x": 203.5497589111328,
                        "y": 5675.169921875,
                        "z": 364.6962890625
                    },
                    "rotation": {
                        "roll": 0.002364743035286665,
                        "pitch": 0.553593635559082,
                        "yaw": -69.5106430053711
                    }
                },
                "velocity": {
                    "x": 0.4329632520675659,
                    "y": -1.1933503150939941,
                    "z": 0.011084203608334064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.828782558441162,
                "transform": {
                    "location": {
                        "x": 212.63671875,
                        "y": 5644.1767578125,
                        "z": 364.9853515625
                    },
                    "rotation": {
                        "roll": 0.008604517206549644,
                        "pitch": 0.6381718516349792,
                        "yaw": -77.07295989990234
                    }
                },
                "velocity": {
                    "x": 1.7309974431991577,
                    "y": -7.634772300720215,
                    "z": 0.06110130995512009
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.944739580154419,
                "transform": {
                    "location": {
                        "x": 215.55905151367188,
                        "y": 5628.44091796875,
                        "z": 365.07464599609375
                    },
                    "rotation": {
                        "roll": 0.02113916352391243,
                        "pitch": 0.04305068030953407,
                        "yaw": -80.84117126464844
                    }
                },
                "velocity": {
                    "x": 0.6077042818069458,
                    "y": -3.897573471069336,
                    "z": 0.024213427677750587
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04403417930006981,
        "expert_target_speed": 2.426879532673743,
        "target_point": [
            50.54666276449478,
            -5.595105976173516
        ],
        "target_point_next": [
            70.60591571329518,
            -10.957588755735788
        ]
    },
    "50": {
        "acceleration": [
            0.5140352249145508,
            -1.6057252883911133,
            0.0013202615082263947
        ],
        "angular_velocity": [
            0.11487621068954468,
            0.09110023826360703,
            0.10812665522098541
        ],
        "forward_vector": [
            0.3038260340690613,
            -0.9526525139808655,
            0.011957121081650257
        ],
        "right_vector": [
            0.9527205228805542,
            0.30384793877601624,
            1.597777009010315e-05
        ],
        "location": [
            207.3282012939453,
            5664.09228515625,
            364.7864685058594
        ],
        "rotation": [
            -0.0009155242005363107,
            0.6851089000701904,
            -72.31114196777344
        ],
        "velocity": [
            0.521862804889679,
            -1.6265816688537598,
            0.013492278754711151
        ],
        "speed": 1.7082472633018926,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.61758804321289,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                213.0703125,
                5642.216796875,
                365.0020751953125
            ],
            "velocity": [
                1.5736805200576782,
                -7.553365707397461,
                0.05867612734436989
            ],
            "speed_kmh": 27.77680467994023,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.213030815124512,
                "transform": {
                    "location": {
                        "x": 215.0782012939453,
                        "y": 5603.5810546875,
                        "z": 365.2560729980469
                    },
                    "rotation": {
                        "roll": -0.0003356802917551249,
                        "pitch": -0.5206584334373474,
                        "yaw": 92.78629302978516
                    }
                },
                "velocity": {
                    "x": -0.41039514541625977,
                    "y": 8.20256519317627,
                    "z": -0.05815950408577919
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.347752094268799,
                "transform": {
                    "location": {
                        "x": 199.4074249267578,
                        "y": 5685.669921875,
                        "z": 364.59576416015625
                    },
                    "rotation": {
                        "roll": -0.02511596865952015,
                        "pitch": 0.46218520402908325,
                        "yaw": -66.70957946777344
                    }
                },
                "velocity": {
                    "x": 2.8252553939819336,
                    "y": -6.782540321350098,
                    "z": 0.06737512350082397
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.213266372680664,
                "transform": {
                    "location": {
                        "x": 203.70172119140625,
                        "y": 5674.75634765625,
                        "z": 364.7012023925781
                    },
                    "rotation": {
                        "roll": 0.0013431408442556858,
                        "pitch": 0.41300785541534424,
                        "yaw": -69.59071350097656
                    }
                },
                "velocity": {
                    "x": 0.7592535018920898,
                    "y": -2.078880786895752,
                    "z": 0.018339309841394424
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.7157793045043945,
                "transform": {
                    "location": {
                        "x": 213.0703125,
                        "y": 5642.216796875,
                        "z": 365.0020751953125
                    },
                    "rotation": {
                        "roll": 0.04139108583331108,
                        "pitch": 0.4959058463573456,
                        "yaw": -77.64313507080078
                    }
                },
                "velocity": {
                    "x": 1.5736805200576782,
                    "y": -7.553365707397461,
                    "z": 0.05867612734436989
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.275673866271973,
                "transform": {
                    "location": {
                        "x": 215.69741821289062,
                        "y": 5627.4951171875,
                        "z": 365.0816955566406
                    },
                    "rotation": {
                        "roll": 0.030790532007813454,
                        "pitch": 0.31072577834129333,
                        "yaw": -81.29637908935547
                    }
                },
                "velocity": {
                    "x": 0.6066401600837708,
                    "y": -4.232308387756348,
                    "z": 0.030709505081176758
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0454622283577919,
        "expert_target_speed": 2.8400543351030296,
        "target_point": [
            50.16299572172141,
            -5.6202636473255705
        ],
        "target_point_next": [
            70.2196176327408,
            -10.992578599324952
        ]
    },
    "55": {
        "acceleration": [
            0.7681512832641602,
            -2.36757755279541,
            0.03130476921796799
        ],
        "angular_velocity": [
            -0.14626185595989227,
            -0.028997626155614853,
            0.14788232743740082
        ],
        "forward_vector": [
            0.30434471368789673,
            -0.952483594417572,
            0.012217813171446323
        ],
        "right_vector": [
            0.9525548219680786,
            0.3043671250343323,
            -2.4870503693819046e-05
        ],
        "location": [
            207.47976684570312,
            5663.6201171875,
            364.7904357910156
        ],
        "rotation": [
            0.0014250811655074358,
            0.7000465393066406,
            -72.27989196777344
        ],
        "velocity": [
            0.6919952034950256,
            -2.153162717819214,
            0.018243703991174698
        ],
        "speed": 2.2616292912559177,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.868558883666992,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                213.4266357421875,
                5640.50537109375,
                365.0170593261719
            ],
            "velocity": [
                1.1911593675613403,
                -5.872646808624268,
                0.046783436089754105
            ],
            "speed_kmh": 21.572691697721805,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0995512008667,
                "transform": {
                    "location": {
                        "x": 214.9617156982422,
                        "y": 5605.6328125,
                        "z": 365.2405700683594
                    },
                    "rotation": {
                        "roll": 0.019002221524715424,
                        "pitch": -0.4114915430545807,
                        "yaw": 93.28035736083984
                    }
                },
                "velocity": {
                    "x": -0.5183688402175903,
                    "y": 8.082740783691406,
                    "z": -0.05759912356734276
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.243158340454102,
                "transform": {
                    "location": {
                        "x": 200.0642852783203,
                        "y": 5684.09619140625,
                        "z": 364.6103515625
                    },
                    "rotation": {
                        "roll": -0.005157485604286194,
                        "pitch": 0.6108169555664062,
                        "yaw": -67.2346420288086
                    }
                },
                "velocity": {
                    "x": 2.3844637870788574,
                    "y": -5.769579887390137,
                    "z": 0.05749248340725899
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0476975440979004,
                "transform": {
                    "location": {
                        "x": 203.8926544189453,
                        "y": 5674.234375,
                        "z": 364.7052917480469
                    },
                    "rotation": {
                        "roll": 0.003841081168502569,
                        "pitch": 0.48988163471221924,
                        "yaw": -69.67327880859375
                    }
                },
                "velocity": {
                    "x": 0.7024050951004028,
                    "y": -1.9233765602111816,
                    "z": 0.017763834446668625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.992414474487305,
                "transform": {
                    "location": {
                        "x": 213.4266357421875,
                        "y": 5640.50537109375,
                        "z": 365.0170593261719
                    },
                    "rotation": {
                        "roll": 0.019479742273688316,
                        "pitch": 0.3168114721775055,
                        "yaw": -78.27210998535156
                    }
                },
                "velocity": {
                    "x": 1.1911593675613403,
                    "y": -5.872646808624268,
                    "z": 0.046783436089754105
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.07588005065918,
                "transform": {
                    "location": {
                        "x": 215.87022399902344,
                        "y": 5626.27880859375,
                        "z": 365.0912170410156
                    },
                    "rotation": {
                        "roll": 0.01899993233382702,
                        "pitch": 0.5520568490028381,
                        "yaw": -81.74308776855469
                    }
                },
                "velocity": {
                    "x": 0.7106276750564575,
                    "y": -5.025749683380127,
                    "z": 0.0375053770840168
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05138462036848068,
        "expert_target_speed": 3.389378323001091,
        "target_point": [
            49.66402613516649,
            -5.648278360241973
        ],
        "target_point_next": [
            69.71771557823217,
            -11.031529250376604
        ]
    },
    "60": {
        "acceleration": [
            0.6793498992919922,
            -2.0890092849731445,
            0.01645449548959732
        ],
        "angular_velocity": [
            -0.018138032406568527,
            -0.016695188358426094,
            0.17677012085914612
        ],
        "forward_vector": [
            0.30501028895378113,
            -0.9522626996040344,
            0.012826328165829182
        ],
        "right_vector": [
            0.9523412585258484,
            0.3050345480442047,
            -6.767641025362536e-05
        ],
        "location": [
            207.67803955078125,
            5663.00341796875,
            364.7955627441406
        ],
        "rotation": [
            0.003877891693264246,
            0.7349146604537964,
            -72.23970794677734
        ],
        "velocity": [
            0.883948028087616,
            -2.7445216178894043,
            0.023041123524308205
        ],
        "speed": 2.8833596770819727,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.000125885009766,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                213.57717895507812,
                5639.74072265625,
                365.0260925292969
            ],
            "velocity": [
                0.03127679601311684,
                -0.17096145451068878,
                0.0007954597240313888
            ],
            "speed_kmh": 0.6256825855882835,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9082746505737305,
                "transform": {
                    "location": {
                        "x": 214.8356170654297,
                        "y": 5607.6171875,
                        "z": 365.2263488769531
                    },
                    "rotation": {
                        "roll": 0.0051701609045267105,
                        "pitch": -0.3923943340778351,
                        "yaw": 93.61583709716797
                    }
                },
                "velocity": {
                    "x": -0.5166110992431641,
                    "y": 7.891180992126465,
                    "z": -0.05640706047415733
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.759666681289673,
                "transform": {
                    "location": {
                        "x": 200.55210876464844,
                        "y": 5682.91845703125,
                        "z": 364.62060546875
                    },
                    "rotation": {
                        "roll": 0.004538825247436762,
                        "pitch": 0.7396752834320068,
                        "yaw": -67.42295837402344
                    }
                },
                "velocity": {
                    "x": 1.4337071180343628,
                    "y": -3.475414276123047,
                    "z": 0.032749202102422714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5692949295043945,
                "transform": {
                    "location": {
                        "x": 204.08538818359375,
                        "y": 5673.70849609375,
                        "z": 364.7104187011719
                    },
                    "rotation": {
                        "roll": 0.004205797333270311,
                        "pitch": 0.45898187160491943,
                        "yaw": -69.7384262084961
                    }
                },
                "velocity": {
                    "x": 0.8809804916381836,
                    "y": -2.4134371280670166,
                    "z": 0.02170618064701557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.17380072176456451,
                "transform": {
                    "location": {
                        "x": 213.57717895507812,
                        "y": 5639.74072265625,
                        "z": 365.0260925292969
                    },
                    "rotation": {
                        "roll": 0.0010875081643462181,
                        "pitch": -0.06457260251045227,
                        "yaw": -78.04348754882812
                    }
                },
                "velocity": {
                    "x": 0.03127679601311684,
                    "y": -0.17096145451068878,
                    "z": 0.0007954597240313888
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.164065837860107,
                "transform": {
                    "location": {
                        "x": 216.0446014404297,
                        "y": 5625.029296875,
                        "z": 365.1002197265625
                    },
                    "rotation": {
                        "roll": 0.013858364894986153,
                        "pitch": 0.4451097548007965,
                        "yaw": -82.04784393310547
                    }
                },
                "velocity": {
                    "x": 0.7072945833206177,
                    "y": -5.115252494812012,
                    "z": 0.03876391425728798
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06138148903846741,
        "expert_target_speed": 3.9744844094315948,
        "target_point": [
            49.0122647550812,
            -5.683813554819052
        ],
        "target_point_next": [
            69.06217410950988,
            -11.081126340294038
        ]
    },
    "65": {
        "acceleration": [
            0.01728534698486328,
            -0.01796245574951172,
            0.003601275384426117
        ],
        "angular_velocity": [
            0.5827082991600037,
            0.19988960027694702,
            0.1820521354675293
        ],
        "forward_vector": [
            0.3057723343372345,
            -0.9520416259765625,
            0.010957141406834126
        ],
        "right_vector": [
            0.9520990252494812,
            0.3057900071144104,
            -6.519117596326396e-05
        ],
        "location": [
            207.90773010253906,
            5662.29052734375,
            364.8020324707031
        ],
        "rotation": [
            0.003735403763130307,
            0.6278104782104492,
            -72.19425964355469
        ],
        "velocity": [
            0.9301807284355164,
            -2.880483627319336,
            0.0250658318400383
        ],
        "speed": 3.0269493082652685,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.399023056030273,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                213.60655212402344,
                5639.59716796875,
                365.0237121582031
            ],
            "velocity": [
                0.23246486485004425,
                -1.1493514776229858,
                0.008866071701049805
            ],
            "speed_kmh": 4.221569651553511,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.11715030670166,
                "transform": {
                    "location": {
                        "x": 214.69874572753906,
                        "y": 5609.619140625,
                        "z": 365.2121887207031
                    },
                    "rotation": {
                        "roll": 0.03186044096946716,
                        "pitch": -0.41613608598709106,
                        "yaw": 93.96818542480469
                    }
                },
                "velocity": {
                    "x": -0.6510398983955383,
                    "y": 8.090799331665039,
                    "z": -0.05693124234676361
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2869889736175537,
                "transform": {
                    "location": {
                        "x": 200.83062744140625,
                        "y": 5682.24462890625,
                        "z": 364.6277770996094
                    },
                    "rotation": {
                        "roll": 0.005361705087125301,
                        "pitch": 0.6827593445777893,
                        "yaw": -67.48092651367188
                    }
                },
                "velocity": {
                    "x": 0.8714516758918762,
                    "y": -2.114344596862793,
                    "z": 0.020896539092063904
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.514237403869629,
                "transform": {
                    "location": {
                        "x": 204.3457794189453,
                        "y": 5672.99609375,
                        "z": 364.7174072265625
                    },
                    "rotation": {
                        "roll": 0.005881552584469318,
                        "pitch": 0.4040808081626892,
                        "yaw": -69.80111694335938
                    }
                },
                "velocity": {
                    "x": 1.2051745653152466,
                    "y": -3.300980806350708,
                    "z": 0.030728472396731377
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1726582050323486,
                "transform": {
                    "location": {
                        "x": 213.60655212402344,
                        "y": 5639.59716796875,
                        "z": 365.0237121582031
                    },
                    "rotation": {
                        "roll": 0.0045468974858522415,
                        "pitch": 0.35246506333351135,
                        "yaw": -78.07322692871094
                    }
                },
                "velocity": {
                    "x": 0.23246486485004425,
                    "y": -1.1493514776229858,
                    "z": 0.008866071701049805
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.406688690185547,
                "transform": {
                    "location": {
                        "x": 216.22991943359375,
                        "y": 5623.68603515625,
                        "z": 365.1101379394531
                    },
                    "rotation": {
                        "roll": 0.0087633291259408,
                        "pitch": 0.4555189609527588,
                        "yaw": -82.1323471069336
                    }
                },
                "velocity": {
                    "x": 0.7373901009559631,
                    "y": -5.35601806640625,
                    "z": 0.04007741063833237
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07235897332429886,
        "expert_target_speed": 4.111342326060023,
        "target_point": [
            48.2587618272337,
            -5.7233778011408045
        ],
        "target_point_next": [
            68.30438410947184,
            -11.136591056028943
        ]
    },
    "70": {
        "acceleration": [
            -0.0893700122833252,
            0.2950143814086914,
            -0.002891160547733307
        ],
        "angular_velocity": [
            0.30142027139663696,
            0.10759870707988739,
            0.17803534865379333
        ],
        "forward_vector": [
            0.306533545255661,
            -0.9518181681632996,
            0.008912920951843262
        ],
        "right_vector": [
            0.9518561959266663,
            0.30654504895210266,
            -7.75647276896052e-05
        ],
        "location": [
            208.13827514648438,
            5661.5771484375,
            364.8084411621094
        ],
        "rotation": [
            0.004444308113306761,
            0.5106795430183411,
            -72.14881896972656
        ],
        "velocity": [
            0.9165325164794922,
            -2.830327272415161,
            0.024510469287633896
        ],
        "speed": 2.975026776810803,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.046398162841797,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                213.68592834472656,
                5639.20947265625,
                365.0255126953125
            ],
            "velocity": [
                0.3942224681377411,
                -1.9485273361206055,
                0.015019540674984455
            ],
            "speed_kmh": 7.157027912403562,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005807876586914,
                "transform": {
                    "location": {
                        "x": 214.53741455078125,
                        "y": 5611.6298828125,
                        "z": 365.1978454589844
                    },
                    "rotation": {
                        "roll": 0.011683421209454536,
                        "pitch": -0.40356171131134033,
                        "yaw": 94.5410385131836
                    }
                },
                "velocity": {
                    "x": -0.6668130159378052,
                    "y": 7.977794170379639,
                    "z": -0.05592436343431473
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012028919300064445,
                "transform": {
                    "location": {
                        "x": 200.93038940429688,
                        "y": 5681.99755859375,
                        "z": 364.6296691894531
                    },
                    "rotation": {
                        "roll": 0.005912868306040764,
                        "pitch": 0.7544558048248291,
                        "yaw": -67.51409149169922
                    }
                },
                "velocity": {
                    "x": -0.00026447948766872287,
                    "y": 0.0006061991443857551,
                    "z": -0.0010047497926279902
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9735918045043945,
                "transform": {
                    "location": {
                        "x": 204.6769561767578,
                        "y": 5672.06298828125,
                        "z": 364.7257385253906
                    },
                    "rotation": {
                        "roll": -0.014556908048689365,
                        "pitch": 0.4258827567100525,
                        "yaw": -70.16019439697266
                    }
                },
                "velocity": {
                    "x": 1.2844407558441162,
                    "y": -3.760127067565918,
                    "z": 0.03299892321228981
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9880633354187012,
                "transform": {
                    "location": {
                        "x": 213.68592834472656,
                        "y": 5639.20947265625,
                        "z": 365.0255126953125
                    },
                    "rotation": {
                        "roll": 0.007883320562541485,
                        "pitch": 0.49574875831604004,
                        "yaw": -78.18016815185547
                    }
                },
                "velocity": {
                    "x": 0.3942224681377411,
                    "y": -1.9485273361206055,
                    "z": 0.015019540674984455
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.3315205574035645,
                "transform": {
                    "location": {
                        "x": 216.39944458007812,
                        "y": 5622.3369140625,
                        "z": 365.1199951171875
                    },
                    "rotation": {
                        "roll": 0.03685447946190834,
                        "pitch": 0.4112115204334259,
                        "yaw": -82.65056610107422
                    }
                },
                "velocity": {
                    "x": 0.6451066732406616,
                    "y": -5.292201042175293,
                    "z": 0.03948505222797394
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08863342553377151,
        "expert_target_speed": 4.06163979528709,
        "target_point": [
            47.50450072862483,
            -5.762414045343636
        ],
        "target_point_next": [
            67.54582332889547,
            -11.191524364441992
        ]
    },
    "75": {
        "acceleration": [
            -0.15897154808044434,
            0.15933990478515625,
            -0.004172883927822113
        ],
        "angular_velocity": [
            0.11409784853458405,
            0.06980010867118835,
            -0.6343562006950378
        ],
        "forward_vector": [
            0.30492058396339417,
            -0.952343761920929,
            0.00805404968559742
        ],
        "right_vector": [
            0.9523757696151733,
            0.30492648482322693,
            -0.0005151545628905296
        ],
        "location": [
            208.3612518310547,
            5660.8759765625,
            364.8144836425781
        ],
        "rotation": [
            0.02951713837683201,
            0.46146804094314575,
            -72.24601745605469
        ],
        "velocity": [
            0.8740572333335876,
            -2.781754732131958,
            0.02446366287767887
        ],
        "speed": 2.9158421488279003,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.960613250732422,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                213.81390380859375,
                5638.5732421875,
                365.0299072265625
            ],
            "velocity": [
                0.5726694464683533,
                -3.1596500873565674,
                0.024857157841324806
            ],
            "speed_kmh": 11.560404869501632,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.052591323852539,
                "transform": {
                    "location": {
                        "x": 214.3710174560547,
                        "y": 5613.6279296875,
                        "z": 365.18353271484375
                    },
                    "rotation": {
                        "roll": 0.006173244211822748,
                        "pitch": -0.40472283959388733,
                        "yaw": 94.75337219238281
                    }
                },
                "velocity": {
                    "x": -0.6785376667976379,
                    "y": 8.023749351501465,
                    "z": -0.05709867924451828
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6589323878288269,
                "transform": {
                    "location": {
                        "x": 200.95562744140625,
                        "y": 5681.93310546875,
                        "z": 364.6321716308594
                    },
                    "rotation": {
                        "roll": 0.0023044259287416935,
                        "pitch": 0.5092042088508606,
                        "yaw": -67.5457534790039
                    }
                },
                "velocity": {
                    "x": 0.23638926446437836,
                    "y": -0.6150448322296143,
                    "z": 0.005647239740937948
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4832546710968018,
                "transform": {
                    "location": {
                        "x": 204.96585083007812,
                        "y": 5671.22607421875,
                        "z": 364.73248291015625
                    },
                    "rotation": {
                        "roll": 0.0010038657346740365,
                        "pitch": 0.5210409760475159,
                        "yaw": -70.5072021484375
                    }
                },
                "velocity": {
                    "x": 1.1259098052978516,
                    "y": -3.2961361408233643,
                    "z": 0.029615210369229317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.211223602294922,
                "transform": {
                    "location": {
                        "x": 213.81390380859375,
                        "y": 5638.5732421875,
                        "z": 365.0299072265625
                    },
                    "rotation": {
                        "roll": 0.023955825716257095,
                        "pitch": 0.5555948615074158,
                        "yaw": -78.36570739746094
                    }
                },
                "velocity": {
                    "x": 0.5726694464683533,
                    "y": -3.1596500873565674,
                    "z": 0.024857157841324806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.977020740509033,
                "transform": {
                    "location": {
                        "x": 216.55186462402344,
                        "y": 5621.0654296875,
                        "z": 365.12921142578125
                    },
                    "rotation": {
                        "roll": 0.021196305751800537,
                        "pitch": 0.3587898313999176,
                        "yaw": -83.0273208618164
                    }
                },
                "velocity": {
                    "x": 0.5836198925971985,
                    "y": -4.94254732131958,
                    "z": 0.03671478107571602
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10369701683521271,
        "expert_target_speed": 4.009334954220761,
        "target_point": [
            46.778437601282995,
            -5.680363405909281
        ],
        "target_point_next": [
            66.8289418271148,
            -11.075465880835965
        ]
    },
    "80": {
        "acceleration": [
            -0.1545429229736328,
            0.3868293762207031,
            -0.01660749316215515
        ],
        "angular_velocity": [
            0.07171424478292465,
            0.01753119006752968,
            -0.8204948902130127
        ],
        "forward_vector": [
            0.301571786403656,
            -0.9534125924110413,
            0.00767521420493722
        ],
        "right_vector": [
            0.9534417986869812,
            0.3015764653682709,
            -0.0005665686330758035
        ],
        "location": [
            208.57476806640625,
            5660.18994140625,
            364.8204345703125
        ],
        "rotation": [
            0.0324629507958889,
            0.4397616982460022,
            -72.44743347167969
        ],
        "velocity": [
            0.8343455195426941,
            -2.709169864654541,
            0.021590499207377434
        ],
        "speed": 2.8347369898340253,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.22698211669922,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                213.9957733154297,
                5637.60546875,
                365.0372619628906
            ],
            "velocity": [
                0.821172297000885,
                -4.497552871704102,
                0.03479670360684395
            ],
            "speed_kmh": 16.459330938737995,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.016366958618164,
                "transform": {
                    "location": {
                        "x": 214.18382263183594,
                        "y": 5615.6279296875,
                        "z": 365.1691589355469
                    },
                    "rotation": {
                        "roll": 0.026691118255257607,
                        "pitch": -0.41134127974510193,
                        "yaw": 95.37986755371094
                    }
                },
                "velocity": {
                    "x": -0.820809006690979,
                    "y": 7.974032878875732,
                    "z": -0.05666828155517578
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4926531314849854,
                "transform": {
                    "location": {
                        "x": 201.05812072753906,
                        "y": 5681.6728515625,
                        "z": 364.63531494140625
                    },
                    "rotation": {
                        "roll": 4.150263703195378e-05,
                        "pitch": 0.44196784496307373,
                        "yaw": -67.68914794921875
                    }
                },
                "velocity": {
                    "x": 0.5410069823265076,
                    "y": -1.3910919427871704,
                    "z": 0.013702754862606525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3597846031188965,
                "transform": {
                    "location": {
                        "x": 205.26084899902344,
                        "y": 5670.3681640625,
                        "z": 364.7403564453125
                    },
                    "rotation": {
                        "roll": 0.0026594181545078754,
                        "pitch": 0.4975109398365021,
                        "yaw": -70.73828125
                    }
                },
                "velocity": {
                    "x": 1.0849621295928955,
                    "y": -3.179655075073242,
                    "z": 0.028344182297587395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.572036266326904,
                "transform": {
                    "location": {
                        "x": 213.9957733154297,
                        "y": 5637.60546875,
                        "z": 365.0372619628906
                    },
                    "rotation": {
                        "roll": 0.015632279217243195,
                        "pitch": 0.5812559127807617,
                        "yaw": -78.90489196777344
                    }
                },
                "velocity": {
                    "x": 0.821172297000885,
                    "y": -4.497552871704102,
                    "z": 0.03479670360684395
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.02488899230957,
                "transform": {
                    "location": {
                        "x": 216.66624450683594,
                        "y": 5620.080078125,
                        "z": 365.1360778808594
                    },
                    "rotation": {
                        "roll": 0.010071303695440292,
                        "pitch": 0.2836577296257019,
                        "yaw": -84.07479858398438
                    }
                },
                "velocity": {
                    "x": 0.44829946756362915,
                    "y": -3.9997355937957764,
                    "z": 0.029580945149064064
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11931420862674713,
        "expert_target_speed": 3.9390496296506137,
        "target_point": [
            46.07963038165561,
            -5.512569920645985
        ],
        "target_point_next": [
            66.14897594490223,
            -10.837156203922099
        ]
    },
    "85": {
        "acceleration": [
            -0.039772987365722656,
            0.0872182846069336,
            -0.005253404378890991
        ],
        "angular_velocity": [
            -0.036269597709178925,
            -0.017637455835938454,
            -0.70789635181427
        ],
        "forward_vector": [
            0.29827192425727844,
            -0.954451322555542,
            0.00752489548176527
        ],
        "right_vector": [
            0.9544792175292969,
            0.298277348279953,
            -0.0004159064847044647
        ],
        "location": [
            208.7802276611328,
            5659.52197265625,
            364.8258361816406
        ],
        "rotation": [
            0.023830361664295197,
            0.43114882707595825,
            -72.6456527709961
        ],
        "velocity": [
            0.8087506890296936,
            -2.651517629623413,
            0.021420717239379883
        ],
        "speed": 2.7721153325952668,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.804384231567383,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                214.22874450683594,
                5636.3505859375,
                365.0476379394531
            ],
            "velocity": [
                0.9498038291931152,
                -5.227474212646484,
                0.03925343602895737
            ],
            "speed_kmh": 19.127540513075868,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0653076171875,
                "transform": {
                    "location": {
                        "x": 213.97906494140625,
                        "y": 5617.6279296875,
                        "z": 365.1547546386719
                    },
                    "rotation": {
                        "roll": 0.009110013954341412,
                        "pitch": -0.41256389021873474,
                        "yaw": 95.81724548339844
                    }
                },
                "velocity": {
                    "x": -0.8417691588401794,
                    "y": 8.021053314208984,
                    "z": -0.05760154128074646
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2803914546966553,
                "transform": {
                    "location": {
                        "x": 201.23342895507812,
                        "y": 5681.2265625,
                        "z": 364.6396789550781
                    },
                    "rotation": {
                        "roll": 3.916798232239671e-05,
                        "pitch": 0.4331022799015045,
                        "yaw": -67.90140533447266
                    }
                },
                "velocity": {
                    "x": 0.8271079063415527,
                    "y": -2.1250107288360596,
                    "z": 0.020172595977783203
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.135453462600708,
                "transform": {
                    "location": {
                        "x": 205.48069763183594,
                        "y": 5669.72607421875,
                        "z": 364.7453918457031
                    },
                    "rotation": {
                        "roll": 0.003911713603883982,
                        "pitch": 0.5843909382820129,
                        "yaw": -70.85753631591797
                    }
                },
                "velocity": {
                    "x": 0.6894969940185547,
                    "y": -2.0209906101226807,
                    "z": 0.018772153183817863
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.313205718994141,
                "transform": {
                    "location": {
                        "x": 214.22874450683594,
                        "y": 5636.3505859375,
                        "z": 365.0476379394531
                    },
                    "rotation": {
                        "roll": 0.009398424066603184,
                        "pitch": 0.5313340425491333,
                        "yaw": -79.36622619628906
                    }
                },
                "velocity": {
                    "x": 0.9498038291931152,
                    "y": -5.227474212646484,
                    "z": 0.03925343602895737
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.68301248550415,
                "transform": {
                    "location": {
                        "x": 216.79234313964844,
                        "y": 5618.95849609375,
                        "z": 365.144287109375
                    },
                    "rotation": {
                        "roll": -0.0014342854265123606,
                        "pitch": 0.49072858691215515,
                        "yaw": -83.78417205810547
                    }
                },
                "velocity": {
                    "x": 0.5272855758666992,
                    "y": -4.6531171798706055,
                    "z": 0.03278876096010208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12531183660030365,
        "expert_target_speed": 3.8856642081473414,
        "target_point": [
            45.39957884767368,
            -5.349991724944404
        ],
        "target_point_next": [
            65.4872244402445,
            -10.605117315482584
        ]
    },
    "90": {
        "acceleration": [
            0.021088123321533203,
            -0.14039039611816406,
            0.004541799426078796
        ],
        "angular_velocity": [
            -0.0971839427947998,
            -0.017725924029946327,
            -0.5642417073249817
        ],
        "forward_vector": [
            0.29583966732025146,
            -0.9552053213119507,
            0.007854141294956207
        ],
        "right_vector": [
            0.955235481262207,
            0.29584628343582153,
            -0.0003281202807556838
        ],
        "location": [
            208.98257446289062,
            5658.8583984375,
            364.83123779296875
        ],
        "rotation": [
            0.018800485879182816,
            0.45001381635665894,
            -72.79155731201172
        ],
        "velocity": [
            0.8105505704879761,
            -2.666478157043457,
            0.02123441733419895
        ],
        "speed": 2.7869513790714495,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.480302810668945,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                214.47561645507812,
                5635.00341796875,
                365.058349609375
            ],
            "velocity": [
                0.9819394946098328,
                -5.42548942565918,
                0.04135748744010925
            ],
            "speed_kmh": 19.849634518683935,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002753257751465,
                "transform": {
                    "location": {
                        "x": 213.76327514648438,
                        "y": 5619.6240234375,
                        "z": 365.1402282714844
                    },
                    "rotation": {
                        "roll": 0.03418513387441635,
                        "pitch": -0.41409385204315186,
                        "yaw": 96.23107147216797
                    }
                },
                "velocity": {
                    "x": -0.9645611643791199,
                    "y": 7.944204330444336,
                    "z": -0.057310912758111954
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7540987730026245,
                "transform": {
                    "location": {
                        "x": 201.42413330078125,
                        "y": 5680.7412109375,
                        "z": 364.64349365234375
                    },
                    "rotation": {
                        "roll": 0.00394026143476367,
                        "pitch": 0.5420233011245728,
                        "yaw": -68.09272003173828
                    }
                },
                "velocity": {
                    "x": 0.6352398991584778,
                    "y": -1.634946584701538,
                    "z": 0.01680651679635048
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7179697751998901,
                "transform": {
                    "location": {
                        "x": 205.624755859375,
                        "y": 5669.3056640625,
                        "z": 364.74951171875
                    },
                    "rotation": {
                        "roll": 0.00345913739874959,
                        "pitch": 0.5400015711784363,
                        "yaw": -70.91973876953125
                    }
                },
                "velocity": {
                    "x": 0.5546254515647888,
                    "y": -1.6259254217147827,
                    "z": 0.013321123085916042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.513787269592285,
                "transform": {
                    "location": {
                        "x": 214.47561645507812,
                        "y": 5635.00341796875,
                        "z": 365.058349609375
                    },
                    "rotation": {
                        "roll": 0.004481588955968618,
                        "pitch": 0.4811663031578064,
                        "yaw": -79.6624755859375
                    }
                },
                "velocity": {
                    "x": 0.9819394946098328,
                    "y": -5.42548942565918,
                    "z": 0.04135748744010925
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.82698130607605,
                "transform": {
                    "location": {
                        "x": 216.90155029296875,
                        "y": 5617.90478515625,
                        "z": 365.1517639160156
                    },
                    "rotation": {
                        "roll": 0.026234827935695648,
                        "pitch": 0.302925705909729,
                        "yaw": -83.9864501953125
                    }
                },
                "velocity": {
                    "x": 0.37728351354599,
                    "y": -3.808234214782715,
                    "z": 0.028214434161782265
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13857796788215637,
        "expert_target_speed": 3.9055215155228646,
        "target_point": [
            44.719322721399195,
            -5.231330730236737
        ],
        "target_point_next": [
            64.82028591041843,
            -10.43528396780075
        ]
    },
    "95": {
        "acceleration": [
            0.07163166999816895,
            -0.35193920135498047,
            0.00027429312467575073
        ],
        "angular_velocity": [
            -0.06398183852434158,
            0.00441825482994318,
            -0.5865117311477661
        ],
        "forward_vector": [
            0.29343748092651367,
            -0.9559424519538879,
            0.008274579420685768
        ],
        "right_vector": [
            0.9559760689735413,
            0.2934444546699524,
            -0.00038521294482052326
        ],
        "location": [
            209.1875762939453,
            5658.1826171875,
            364.8367004394531
        ],
        "rotation": [
            0.022071830928325653,
            0.4741038978099823,
            -72.93553161621094
        ],
        "velocity": [
            0.8251456022262573,
            -2.739927291870117,
            0.02173559181392193
        ],
        "speed": 2.8614798321162507,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.503416061401367,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                214.7811737060547,
                5633.30126953125,
                365.0699462890625
            ],
            "velocity": [
                1.319886565208435,
                -7.916759967803955,
                0.06012371927499771
            ],
            "speed_kmh": 28.89452573025222,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06889820098877,
                "transform": {
                    "location": {
                        "x": 213.521240234375,
                        "y": 5621.619140625,
                        "z": 365.1256103515625
                    },
                    "rotation": {
                        "roll": 0.013104399666190147,
                        "pitch": -0.4174133241176605,
                        "yaw": 96.87028503417969
                    }
                },
                "velocity": {
                    "x": -1.0034294128417969,
                    "y": 8.006049156188965,
                    "z": -0.05848481133580208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9499733448028564,
                "transform": {
                    "location": {
                        "x": 201.5819549560547,
                        "y": 5680.337890625,
                        "z": 364.6477355957031
                    },
                    "rotation": {
                        "roll": 0.0031708008609712124,
                        "pitch": 0.510549783706665,
                        "yaw": -68.24044799804688
                    }
                },
                "velocity": {
                    "x": 0.7071436047554016,
                    "y": -1.8171491622924805,
                    "z": 0.01769154518842697
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.207951545715332,
                "transform": {
                    "location": {
                        "x": 205.78781127929688,
                        "y": 5668.82861328125,
                        "z": 364.75445556640625
                    },
                    "rotation": {
                        "roll": 0.003165285801514983,
                        "pitch": 0.44073158502578735,
                        "yaw": -70.96880340576172
                    }
                },
                "velocity": {
                    "x": 0.7130032777786255,
                    "y": -2.089585304260254,
                    "z": 0.017574157565832138
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026257514953613,
                "transform": {
                    "location": {
                        "x": 214.7811737060547,
                        "y": 5633.30126953125,
                        "z": 365.0699462890625
                    },
                    "rotation": {
                        "roll": 0.03463106229901314,
                        "pitch": 0.640173077583313,
                        "yaw": -79.85502624511719
                    }
                },
                "velocity": {
                    "x": 1.319886565208435,
                    "y": -7.916759967803955,
                    "z": 0.06012371927499771
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.069142818450928,
                "transform": {
                    "location": {
                        "x": 216.994140625,
                        "y": 5616.96435546875,
                        "z": 365.1585388183594
                    },
                    "rotation": {
                        "roll": 0.01078019943088293,
                        "pitch": 0.41362258791923523,
                        "yaw": -84.19091796875
                    }
                },
                "velocity": {
                    "x": 0.39565882086753845,
                    "y": -4.049759387969971,
                    "z": 0.028761424124240875
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1506696492433548,
        "expert_target_speed": 3.9920157300313766,
        "target_point": [
            44.02613857832353,
            -5.116621356260168
        ],
        "target_point_next": [
            64.1401139304256,
            -10.270051860311769
        ]
    },
    "100": {
        "acceleration": [
            0.03093123435974121,
            -0.1922750473022461,
            -0.007571391761302948
        ],
        "angular_velocity": [
            0.012557350099086761,
            -0.01820194348692894,
            -0.5865930914878845
        ],
        "forward_vector": [
            0.29098087549209595,
            -0.9566919803619385,
            0.008402247913181782
        ],
        "right_vector": [
            0.9567265510559082,
            0.29098814725875854,
            -0.00037115017767064273
        ],
        "location": [
            209.39593505859375,
            5657.4892578125,
            364.84228515625
        ],
        "rotation": [
            0.021266089752316475,
            0.48141902685165405,
            -73.08269500732422
        ],
        "velocity": [
            0.8362222909927368,
            -2.8023016452789307,
            0.021322794258594513
        ],
        "speed": 2.924408013784353,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.732887268066406,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                215.10179138183594,
                5631.37353515625,
                365.0862121582031
            ],
            "velocity": [
                1.1697192192077637,
                -7.294281482696533,
                0.055824775248765945
            ],
            "speed_kmh": 26.595668959576514,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.007484436035156,
                "transform": {
                    "location": {
                        "x": 213.2723388671875,
                        "y": 5623.61279296875,
                        "z": 365.11090087890625
                    },
                    "rotation": {
                        "roll": 0.0076369973830878735,
                        "pitch": -0.4203161597251892,
                        "yaw": 97.10933685302734
                    }
                },
                "velocity": {
                    "x": -1.0036002397537231,
                    "y": 7.9441142082214355,
                    "z": -0.06040216237306595
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0001983642578125,
                "transform": {
                    "location": {
                        "x": 201.77639770507812,
                        "y": 5679.84033203125,
                        "z": 364.6525573730469
                    },
                    "rotation": {
                        "roll": 0.0025864995550364256,
                        "pitch": 0.5021623373031616,
                        "yaw": -68.3577651977539
                    }
                },
                "velocity": {
                    "x": 0.7246891856193542,
                    "y": -1.8642204999923706,
                    "z": 0.017357759177684784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7827768325805664,
                "transform": {
                    "location": {
                        "x": 205.94406127929688,
                        "y": 5668.37109375,
                        "z": 364.7579650878906
                    },
                    "rotation": {
                        "roll": 0.004184987861663103,
                        "pitch": 0.5063150525093079,
                        "yaw": -71.01024627685547
                    }
                },
                "velocity": {
                    "x": 0.5754927396774292,
                    "y": -1.6872620582580566,
                    "z": 0.015744542703032494
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.387685775756836,
                "transform": {
                    "location": {
                        "x": 215.10179138183594,
                        "y": 5631.37353515625,
                        "z": 365.0862121582031
                    },
                    "rotation": {
                        "roll": 0.02368582971394062,
                        "pitch": 0.43923577666282654,
                        "yaw": -80.61817169189453
                    }
                },
                "velocity": {
                    "x": 1.1697192192077637,
                    "y": -7.294281482696533,
                    "z": 0.055824775248765945
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.062962055206299,
                "transform": {
                    "location": {
                        "x": 217.09405517578125,
                        "y": 5615.93505859375,
                        "z": 365.1658935546875
                    },
                    "rotation": {
                        "roll": 0.00568485539406538,
                        "pitch": 0.4166278541088104,
                        "yaw": -84.32927703857422
                    }
                },
                "velocity": {
                    "x": 0.3914740979671478,
                    "y": -4.043948650360107,
                    "z": 0.029806556180119514
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.16395604610443115,
        "expert_target_speed": 0,
        "target_point": [
            43.31515072252886,
            -5.001098469350685
        ],
        "target_point_next": [
            63.44229697377122,
            -10.102846621323655
        ]
    },
    "105": {
        "acceleration": [
            0.325930118560791,
            -1.2223148345947266,
            0.023504234850406647
        ],
        "angular_velocity": [
            -0.25976911187171936,
            -0.04439651221036911,
            -0.6362841129302979
        ],
        "forward_vector": [
            0.28843453526496887,
            -0.95745849609375,
            0.00887394230812788
        ],
        "right_vector": [
            0.9574970602989197,
            0.2884428799152374,
            -0.0003493865660857409
        ],
        "location": [
            209.61000061035156,
            5656.7705078125,
            364.8480529785156
        ],
        "rotation": [
            0.0200191643089056,
            0.5084460973739624,
            -73.23506164550781
        ],
        "velocity": [
            0.8823798894882202,
            -2.9859328269958496,
            0.023285921663045883
        ],
        "speed": 3.1135813971541952,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.665281295776367,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                215.36874389648438,
                5629.71240234375,
                365.1000671386719
            ],
            "velocity": [
                0.8874994516372681,
                -5.606816291809082,
                0.04231696203351021
            ],
            "speed_kmh": 20.43640919337549,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066412925720215,
                "transform": {
                    "location": {
                        "x": 212.99639892578125,
                        "y": 5625.6025390625,
                        "z": 365.0959777832031
                    },
                    "rotation": {
                        "roll": 0.02428344450891018,
                        "pitch": -0.4249265491962433,
                        "yaw": 97.8615493774414
                    }
                },
                "velocity": {
                    "x": -1.162161111831665,
                    "y": 7.982029914855957,
                    "z": -0.06000393256545067
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5687562823295593,
                "transform": {
                    "location": {
                        "x": 201.83889770507812,
                        "y": 5679.67919921875,
                        "z": 364.6531677246094
                    },
                    "rotation": {
                        "roll": 0.0048521277494728565,
                        "pitch": 0.6293814182281494,
                        "yaw": -68.29782104492188
                    }
                },
                "velocity": {
                    "x": 0.20804502069950104,
                    "y": -0.5293194651603699,
                    "z": 0.004675693344324827
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.178602695465088,
                "transform": {
                    "location": {
                        "x": 206.10662841796875,
                        "y": 5667.89599609375,
                        "z": 364.7627258300781
                    },
                    "rotation": {
                        "roll": 0.005883705802261829,
                        "pitch": 0.44638699293136597,
                        "yaw": -71.0450439453125
                    }
                },
                "velocity": {
                    "x": 0.7032632827758789,
                    "y": -2.0618951320648193,
                    "z": 0.017848586663603783
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.6767802238464355,
                "transform": {
                    "location": {
                        "x": 215.36874389648438,
                        "y": 5629.71240234375,
                        "z": 365.1000671386719
                    },
                    "rotation": {
                        "roll": 0.011269168928265572,
                        "pitch": 0.29002347588539124,
                        "yaw": -80.89440155029297
                    }
                },
                "velocity": {
                    "x": 0.8874994516372681,
                    "y": -5.606816291809082,
                    "z": 0.04231696203351021
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.508925676345825,
                "transform": {
                    "location": {
                        "x": 217.18507385253906,
                        "y": 5614.98974609375,
                        "z": 365.1725769042969
                    },
                    "rotation": {
                        "roll": 0.0038387069944292307,
                        "pitch": 0.32265812158584595,
                        "yaw": -84.4164047241211
                    }
                },
                "velocity": {
                    "x": 0.3358730971813202,
                    "y": -3.4927239418029785,
                    "z": 0.025068243965506554
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1745086908340454,
        "expert_target_speed": 4.2403621084502285,
        "target_point": [
            42.578351222485395,
            -4.883530981725162
        ],
        "target_point_next": [
            62.71899437614314,
            -9.931733016319102
        ]
    },
    "110": {
        "acceleration": [
            0.48416972160339355,
            -1.7820549011230469,
            0.009145140647888184
        ],
        "angular_velocity": [
            -0.32300081849098206,
            -0.050924334675073624,
            -0.7032845616340637
        ],
        "forward_vector": [
            0.28563886880874634,
            -0.9582828879356384,
            0.010210216976702213
        ],
        "right_vector": [
            0.9583340883255005,
            0.2856494188308716,
            -0.00044235397945158184
        ],
        "location": [
            209.84437561035156,
            5655.97509765625,
            364.854248046875
        ],
        "rotation": [
            0.025346338748931885,
            0.5850124955177307,
            -73.40206909179688
        ],
        "velocity": [
            0.9900394082069397,
            -3.3838093280792236,
            0.026439150795340538
        ],
        "speed": 3.5256692412361534,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.572824478149414,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                215.48374938964844,
                5628.986328125,
                365.1081237792969
            ],
            "velocity": [
                0.02989235334098339,
                -0.18305936455726624,
                0.0017183684976771474
            ],
            "speed_kmh": 0.6677707581479088,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0081205368042,
                "transform": {
                    "location": {
                        "x": 212.70819091796875,
                        "y": 5627.59130859375,
                        "z": 365.08099365234375
                    },
                    "rotation": {
                        "roll": 0.009028533473610878,
                        "pitch": -0.4270643889904022,
                        "yaw": 98.22312927246094
                    }
                },
                "velocity": {
                    "x": -1.1644517183303833,
                    "y": 7.922779560089111,
                    "z": -0.06006438285112381
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4340900182724,
                "transform": {
                    "location": {
                        "x": 201.93499755859375,
                        "y": 5679.43310546875,
                        "z": 364.6568908691406
                    },
                    "rotation": {
                        "roll": 0.0022524839732795954,
                        "pitch": 0.4493854343891144,
                        "yaw": -68.34650421142578
                    }
                },
                "velocity": {
                    "x": 0.5195150971412659,
                    "y": -1.3366280794143677,
                    "z": 0.011983909644186497
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.753045678138733,
                "transform": {
                    "location": {
                        "x": 206.25350952148438,
                        "y": 5667.4423828125,
                        "z": 364.7662048339844
                    },
                    "rotation": {
                        "roll": 0.0009695241460576653,
                        "pitch": 0.5039654970169067,
                        "yaw": -71.31344604492188
                    }
                },
                "velocity": {
                    "x": 0.5310398936271667,
                    "y": -1.6706175804138184,
                    "z": 0.014233198016881943
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1854918748140335,
                "transform": {
                    "location": {
                        "x": 215.48374938964844,
                        "y": 5628.986328125,
                        "z": 365.1081237792969
                    },
                    "rotation": {
                        "roll": 0.0031836912967264652,
                        "pitch": -0.0521826408803463,
                        "yaw": -80.89318084716797
                    }
                },
                "velocity": {
                    "x": 0.02989235334098339,
                    "y": -0.18305936455726624,
                    "z": 0.0017183684976771474
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.111608505249023,
                "transform": {
                    "location": {
                        "x": 217.27281188964844,
                        "y": 5614.07568359375,
                        "z": 365.1791076660156
                    },
                    "rotation": {
                        "roll": 0.004973561502993107,
                        "pitch": 0.47388532757759094,
                        "yaw": -84.46527099609375
                    }
                },
                "velocity": {
                    "x": 0.3921719193458557,
                    "y": -4.0927629470825195,
                    "z": 0.028605470433831215
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.19280150532722473,
        "expert_target_speed": 4.618287620894082,
        "target_point": [
            41.76318767319792,
            -4.756794997644919
        ],
        "target_point_next": [
            61.91846042265145,
            -9.746266995782108
        ]
    },
    "115": {
        "acceleration": [
            0.6396317481994629,
            -2.479987144470215,
            0.013396479189395905
        ],
        "angular_velocity": [
            -0.30540555715560913,
            -0.00991710927337408,
            -0.855023205280304
        ],
        "forward_vector": [
            0.28242436051368713,
            -0.9592191576957703,
            0.011619305238127708
        ],
        "right_vector": [
            0.9592856168746948,
            0.28243741393089294,
            -0.0005378322093747556
        ],
        "location": [
            210.11187744140625,
            5655.056640625,
            364.8613586425781
        ],
        "rotation": [
            0.03081759810447693,
            0.6657521724700928,
            -73.59391021728516
        ],
        "velocity": [
            1.1425923109054565,
            -3.9565043449401855,
            0.03084484115242958
        ],
        "speed": 4.1181845296769835,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.764616012573242,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                215.505615234375,
                5628.84228515625,
                365.10589599609375
            ],
            "velocity": [
                0.15923868119716644,
                -1.1844171285629272,
                0.008797511458396912
            ],
            "speed_kmh": 4.302381505104769,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064549446105957,
                "transform": {
                    "location": {
                        "x": 212.40968322753906,
                        "y": 5629.578125,
                        "z": 365.06591796875
                    },
                    "rotation": {
                        "roll": 0.036792539060115814,
                        "pitch": -0.4284304082393646,
                        "yaw": 98.61213684082031
                    }
                },
                "velocity": {
                    "x": -1.3078138828277588,
                    "y": 7.9575676918029785,
                    "z": -0.06080447509884834
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.271026372909546,
                "transform": {
                    "location": {
                        "x": 202.10694885253906,
                        "y": 5678.9921875,
                        "z": 364.6612548828125
                    },
                    "rotation": {
                        "roll": 0.0024473301600664854,
                        "pitch": 0.42769959568977356,
                        "yaw": -68.43154907226562
                    }
                },
                "velocity": {
                    "x": 0.8230089545249939,
                    "y": -2.116563081741333,
                    "z": 0.019424065947532654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1581482887268066,
                "transform": {
                    "location": {
                        "x": 206.40570068359375,
                        "y": 5666.9697265625,
                        "z": 364.77069091796875
                    },
                    "rotation": {
                        "roll": 0.001325696357525885,
                        "pitch": 0.44168782234191895,
                        "yaw": -71.53328704833984
                    }
                },
                "velocity": {
                    "x": 0.6543182134628296,
                    "y": -2.0564894676208496,
                    "z": 0.01796955056488514
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.195106029510498,
                "transform": {
                    "location": {
                        "x": 215.505615234375,
                        "y": 5628.84228515625,
                        "z": 365.10589599609375
                    },
                    "rotation": {
                        "roll": 0.011819384060800076,
                        "pitch": 0.3405122458934784,
                        "yaw": -80.91363525390625
                    }
                },
                "velocity": {
                    "x": 0.15923868119716644,
                    "y": -1.1844171285629272,
                    "z": 0.008797511458396912
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.542046070098877,
                "transform": {
                    "location": {
                        "x": 217.364990234375,
                        "y": 5612.9873046875,
                        "z": 365.1867980957031
                    },
                    "rotation": {
                        "roll": 0.0360775850713253,
                        "pitch": 0.5003386735916138,
                        "yaw": -84.89804077148438
                    }
                },
                "velocity": {
                    "x": 0.36219602823257446,
                    "y": -4.527479648590088,
                    "z": 0.03041929192841053
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2099330723285675,
        "expert_target_speed": 5.1776018161655,
        "target_point": [
            40.82226502930667,
            -4.614135459765622
        ],
        "target_point_next": [
            60.99413053047456,
            -9.536095702174315
        ]
    },
    "120": {
        "acceleration": [
            0.5383443832397461,
            -2.326345443725586,
            0.022090747952461243
        ],
        "angular_velocity": [
            -0.07092797011137009,
            0.0013627243461087346,
            -1.390607237815857
        ],
        "forward_vector": [
            0.27723410725593567,
            -0.9607225060462952,
            0.012386362068355083
        ],
        "right_vector": [
            0.9607987999916077,
            0.27724507451057434,
            -0.0008581591537222266
        ],
        "location": [
            210.41632080078125,
            5653.98876953125,
            364.86968994140625
        ],
        "rotation": [
            0.04917267709970474,
            0.7097043991088867,
            -73.90353393554688
        ],
        "velocity": [
            1.2795413732528687,
            -4.557039737701416,
            0.036152955144643784
        ],
        "speed": 4.733269197590142,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.05493927001953,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                215.56265258789062,
                5628.4482421875,
                365.10760498046875
            ],
            "velocity": [
                0.28019094467163086,
                -2.010190725326538,
                0.014312314800918102
            ],
            "speed_kmh": 7.306828185872191,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.007743835449219,
                "transform": {
                    "location": {
                        "x": 212.08413696289062,
                        "y": 5631.56005859375,
                        "z": 365.0508117675781
                    },
                    "rotation": {
                        "roll": 0.014783952385187149,
                        "pitch": -0.4328632056713104,
                        "yaw": 99.27098083496094
                    }
                },
                "velocity": {
                    "x": -1.3286187648773193,
                    "y": 7.896528720855713,
                    "z": -0.05971774458885193
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0427279472351074,
                "transform": {
                    "location": {
                        "x": 202.2880401611328,
                        "y": 5678.52783203125,
                        "z": 364.66455078125
                    },
                    "rotation": {
                        "roll": 0.0055915843695402145,
                        "pitch": 0.5674589276313782,
                        "yaw": -68.49857330322266
                    }
                },
                "velocity": {
                    "x": 0.3782980144023895,
                    "y": -0.9716376066207886,
                    "z": 0.009621581993997097
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7383249998092651,
                "transform": {
                    "location": {
                        "x": 206.55007934570312,
                        "y": 5666.52001953125,
                        "z": 364.7742004394531
                    },
                    "rotation": {
                        "roll": 0.0041419742628932,
                        "pitch": 0.5006459951400757,
                        "yaw": -71.70317077636719
                    }
                },
                "velocity": {
                    "x": 0.5264809131622314,
                    "y": -1.6566202640533447,
                    "z": 0.014179239049553871
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.029674530029297,
                "transform": {
                    "location": {
                        "x": 215.56265258789062,
                        "y": 5628.4482421875,
                        "z": 365.10760498046875
                    },
                    "rotation": {
                        "roll": 0.010104957967996597,
                        "pitch": 0.4845745861530304,
                        "yaw": -81.13682556152344
                    }
                },
                "velocity": {
                    "x": 0.28019094467163086,
                    "y": -2.010190725326538,
                    "z": 0.014312314800918102
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.712313652038574,
                "transform": {
                    "location": {
                        "x": 217.45382690429688,
                        "y": 5611.85791015625,
                        "z": 365.19476318359375
                    },
                    "rotation": {
                        "roll": 0.017212098464369774,
                        "pitch": 0.45594242215156555,
                        "yaw": -85.25585174560547
                    }
                },
                "velocity": {
                    "x": 0.36389023065567017,
                    "y": -4.698123455047607,
                    "z": 0.033428505063056946
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.22212664783000946,
        "expert_target_speed": 5.746627351893084,
        "target_point": [
            39.736188230998,
            -4.38990367511542
        ],
        "target_point_next": [
            59.934357026439955,
            -9.202785113078978
        ]
    },
    "125": {
        "acceleration": [
            -0.4063534736633301,
            0.9840106964111328,
            -0.0070161372423172
        ],
        "angular_velocity": [
            0.8225749135017395,
            0.23913611471652985,
            -1.4874061346054077
        ],
        "forward_vector": [
            0.27118828892707825,
            -0.9624524116516113,
            0.011928870342671871
        ],
        "right_vector": [
            0.9625235795974731,
            0.27119627594947815,
            -0.0009768203599378467
        ],
        "location": [
            210.75210571289062,
            5652.7822265625,
            364.8797607421875
        ],
        "rotation": [
            0.055971674621105194,
            0.6834901571273804,
            -74.26386260986328
        ],
        "velocity": [
            1.3562028408050537,
            -4.945347785949707,
            0.04046238958835602
        ],
        "speed": 5.12793826692613,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.464502334594727,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                215.65577697753906,
                5627.79541015625,
                365.1119689941406
            ],
            "velocity": [
                0.4483603239059448,
                -3.2299187183380127,
                0.023868398740887642
            ],
            "speed_kmh": 11.739517538393976,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06737232208252,
                "transform": {
                    "location": {
                        "x": 211.75132751464844,
                        "y": 5633.5419921875,
                        "z": 365.0354919433594
                    },
                    "rotation": {
                        "roll": 0.007439971435815096,
                        "pitch": -0.4361485242843628,
                        "yaw": 99.51998901367188
                    }
                },
                "velocity": {
                    "x": -1.347747564315796,
                    "y": 7.953763484954834,
                    "z": -0.06097611412405968
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.057572603225708,
                "transform": {
                    "location": {
                        "x": 202.3388214111328,
                        "y": 5678.3974609375,
                        "z": 364.6661682128906
                    },
                    "rotation": {
                        "roll": 0.005474547855556011,
                        "pitch": 0.5270993113517761,
                        "yaw": -68.50433349609375
                    }
                },
                "velocity": {
                    "x": 0.3830092251300812,
                    "y": -0.9857383370399475,
                    "z": 0.009149493649601936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3590240478515625,
                "transform": {
                    "location": {
                        "x": 206.7028045654297,
                        "y": 5666.04345703125,
                        "z": 364.7789001464844
                    },
                    "rotation": {
                        "roll": 0.002047979272902012,
                        "pitch": 0.4250631332397461,
                        "yaw": -71.84430694580078
                    }
                },
                "velocity": {
                    "x": 0.7152279019355774,
                    "y": -2.2479093074798584,
                    "z": 0.01863039843738079
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.260977029800415,
                "transform": {
                    "location": {
                        "x": 215.65577697753906,
                        "y": 5627.79541015625,
                        "z": 365.1119689941406
                    },
                    "rotation": {
                        "roll": 0.008828465826809406,
                        "pitch": 0.540855348110199,
                        "yaw": -81.41905975341797
                    }
                },
                "velocity": {
                    "x": 0.4483603239059448,
                    "y": -3.2299187183380127,
                    "z": 0.023868398740887642
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.189865589141846,
                "transform": {
                    "location": {
                        "x": 217.55194091796875,
                        "y": 5610.576171875,
                        "z": 365.2040100097656
                    },
                    "rotation": {
                        "roll": 0.011773353442549706,
                        "pitch": 0.4893830418586731,
                        "yaw": -85.4374008178711
                    }
                },
                "velocity": {
                    "x": 0.39440155029296875,
                    "y": -5.174728870391846,
                    "z": 0.036551255732774734
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2438811957836151,
        "expert_target_speed": 6.107626539624586,
        "target_point": [
            38.510619406952564,
            -4.135901244491499
        ],
        "target_point_next": [
            58.73865596825954,
            -8.821665568429179
        ]
    },
    "130": {
        "acceleration": [
            -0.39452075958251953,
            1.1390495300292969,
            -0.004476979374885559
        ],
        "angular_velocity": [
            0.6810888051986694,
            0.09675014764070511,
            -1.4754317998886108
        ],
        "forward_vector": [
            0.265190064907074,
            -0.9641492366790771,
            0.00951073132455349
        ],
        "right_vector": [
            0.9641947746276855,
            0.26519328355789185,
            -0.0009466064511798322
        ],
        "location": [
            211.0878143310547,
            5651.54931640625,
            364.8901062011719
        ],
        "rotation": [
            0.05423901602625847,
            0.5449329614639282,
            -74.62104034423828
        ],
        "velocity": [
            1.325634241104126,
            -4.93732213973999,
            0.04009319096803665
        ],
        "speed": 5.112187012693725,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.185651779174805,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                215.79537963867188,
                5626.80859375,
                365.1191711425781
            ],
            "velocity": [
                0.6334401369094849,
                -4.573539733886719,
                0.034231070429086685
            ],
            "speed_kmh": 16.622367549897913,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006908416748047,
                "transform": {
                    "location": {
                        "x": 211.39178466796875,
                        "y": 5635.517578125,
                        "z": 365.0201721191406
                    },
                    "rotation": {
                        "roll": 0.02384890243411064,
                        "pitch": -0.4380200207233429,
                        "yaw": 100.28194427490234
                    }
                },
                "velocity": {
                    "x": -1.4877910614013672,
                    "y": 7.867233753204346,
                    "z": -0.06083984300494194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8815871477127075,
                "transform": {
                    "location": {
                        "x": 202.47390747070312,
                        "y": 5678.0498046875,
                        "z": 364.67022705078125
                    },
                    "rotation": {
                        "roll": 0.006658261176198721,
                        "pitch": 0.43059560656547546,
                        "yaw": -68.55122375488281
                    }
                },
                "velocity": {
                    "x": 0.6821821331977844,
                    "y": -1.7534948587417603,
                    "z": 0.01591683365404606
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.290147304534912,
                "transform": {
                    "location": {
                        "x": 206.91796875,
                        "y": 5665.37060546875,
                        "z": 364.7850646972656
                    },
                    "rotation": {
                        "roll": 0.002918916754424572,
                        "pitch": 0.3827023208141327,
                        "yaw": -71.99361419677734
                    }
                },
                "velocity": {
                    "x": 0.9969785213470459,
                    "y": -3.135341167449951,
                    "z": 0.02718479186296463
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.617324352264404,
                "transform": {
                    "location": {
                        "x": 215.79537963867188,
                        "y": 5626.80859375,
                        "z": 365.1191711425781
                    },
                    "rotation": {
                        "roll": 0.006395502015948296,
                        "pitch": 0.5649795532226562,
                        "yaw": -81.71202087402344
                    }
                },
                "velocity": {
                    "x": 0.6334401369094849,
                    "y": -4.573539733886719,
                    "z": 0.034231070429086685
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.049660682678223,
                "transform": {
                    "location": {
                        "x": 217.64764404296875,
                        "y": 5609.31689453125,
                        "z": 365.2127990722656
                    },
                    "rotation": {
                        "roll": 0.008406439796090126,
                        "pitch": 0.40686750411987305,
                        "yaw": -85.49896240234375
                    }
                },
                "velocity": {
                    "x": 0.3798154294490814,
                    "y": -5.035224914550781,
                    "z": 0.036340683698654175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.25848597288131714,
        "expert_target_speed": 6.09956048713398,
        "target_point": [
            37.25786008077155,
            -3.89246778341896
        ],
        "target_point_next": [
            57.51471413382882,
            -8.452041699718215
        ]
    },
    "135": {
        "acceleration": [
            0.07823467254638672,
            -0.9763717651367188,
            0.013522356748580933
        ],
        "angular_velocity": [
            -0.1610516607761383,
            0.03284661844372749,
            -1.5737454891204834
        ],
        "forward_vector": [
            0.2587968111038208,
            -0.9658952355384827,
            0.008404155261814594
        ],
        "right_vector": [
            0.9659309983253479,
            0.2587977349758148,
            -0.0009930372470989823
        ],
        "location": [
            211.41531372070312,
            5650.31591796875,
            364.9001159667969
        ],
        "rotation": [
            0.05689885467290878,
            0.48152831196784973,
            -75.00077819824219
        ],
        "velocity": [
            1.3011466264724731,
            -4.984493732452393,
            0.04065314307808876
        ],
        "speed": 5.151520194315255,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.193708419799805,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                215.9735870361328,
                5625.5390625,
                365.1292419433594
            ],
            "velocity": [
                0.7178019285202026,
                -5.1990227699279785,
                0.03708057478070259
            ],
            "speed_kmh": 18.894497143993142,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 215.4304656982422,
                        "y": 5595.4716796875,
                        "z": 365.39093017578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.40450426936149597,
                        "yaw": 90.58592224121094
                    }
                },
                "velocity": {
                    "x": 5.512711814814608e-11,
                    "y": -5.390517365810865e-09,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0684814453125,
                "transform": {
                    "location": {
                        "x": 211.0193634033203,
                        "y": 5637.4921875,
                        "z": 365.0046691894531
                    },
                    "rotation": {
                        "roll": 0.009817727841436863,
                        "pitch": -0.4411960542201996,
                        "yaw": 100.65875244140625
                    }
                },
                "velocity": {
                    "x": -1.5126442909240723,
                    "y": 7.9251837730407715,
                    "z": -0.061396703124046326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7750766277313232,
                "transform": {
                    "location": {
                        "x": 202.6871795654297,
                        "y": 5677.5029296875,
                        "z": 364.6755065917969
                    },
                    "rotation": {
                        "roll": 0.003585144178941846,
                        "pitch": 0.41798707842826843,
                        "yaw": -68.59249877929688
                    }
                },
                "velocity": {
                    "x": 1.005616307258606,
                    "y": -2.5863497257232666,
                    "z": 0.02410382218658924
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.3962602615356445,
                "transform": {
                    "location": {
                        "x": 207.21131896972656,
                        "y": 5664.45166015625,
                        "z": 364.79315185546875
                    },
                    "rotation": {
                        "roll": 0.0009342998964712024,
                        "pitch": 0.3569115102291107,
                        "yaw": -72.13117980957031
                    }
                },
                "velocity": {
                    "x": 1.3323917388916016,
                    "y": -4.189347267150879,
                    "z": 0.03471432626247406
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.248471736907959,
                "transform": {
                    "location": {
                        "x": 215.9735870361328,
                        "y": 5625.5390625,
                        "z": 365.1292419433594
                    },
                    "rotation": {
                        "roll": 0.005886337254196405,
                        "pitch": 0.5119636058807373,
                        "yaw": -82.00102996826172
                    }
                },
                "velocity": {
                    "x": 0.7178019285202026,
                    "y": -5.1990227699279785,
                    "z": 0.03708057478070259
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.389188289642334,
                "transform": {
                    "location": {
                        "x": 217.7371063232422,
                        "y": 5608.0048828125,
                        "z": 365.22210693359375
                    },
                    "rotation": {
                        "roll": 0.051924146711826324,
                        "pitch": 0.45443296432495117,
                        "yaw": -85.99677276611328
                    }
                },
                "velocity": {
                    "x": 0.323770672082901,
                    "y": -5.379322528839111,
                    "z": 0.03757840022444725
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2692910134792328,
        "expert_target_speed": 6.139077623280636,
        "target_point": [
            36.006704774911455,
            -3.6425849764292533
        ],
        "target_point_next": [
            56.293332701847916,
            -8.067805623933811
        ]
    },
    "140": {
        "acceleration": [
            0.919647216796875,
            -4.141130447387695,
            0.01800537109375
        ],
        "angular_velocity": [
            -1.206007719039917,
            -0.3290712237358093,
            -1.7538994550704956
        ],
        "forward_vector": [
            0.25213807821273804,
            -0.9676175713539124,
            0.011947346851229668
        ],
        "right_vector": [
            0.9676893949508667,
            0.2521427273750305,
            -0.0011389263672754169
        ],
        "location": [
            211.75491333007812,
            5649.00244140625,
            364.9099426269531
        ],
        "rotation": [
            0.06526034325361252,
            0.6845488548278809,
            -75.39486694335938
        ],
        "velocity": [
            1.4728262424468994,
            -5.794365882873535,
            0.04581883177161217
        ],
        "speed": 5.97861966720154,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.210590362548828,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                216.16226196289062,
                5624.18115234375,
                365.1395568847656
            ],
            "velocity": [
                0.7685678005218506,
                -5.593263626098633,
                0.04090810567140579
            ],
            "speed_kmh": 20.32548903098719,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.154423326253891,
                "transform": {
                    "location": {
                        "x": 215.4304656982422,
                        "y": 5595.47119140625,
                        "z": 365.2727355957031
                    },
                    "rotation": {
                        "roll": -0.0003051652165595442,
                        "pitch": -0.4115871787071228,
                        "yaw": 90.58605194091797
                    }
                },
                "velocity": {
                    "x": 2.0437826606212184e-05,
                    "y": 0.001102982321754098,
                    "z": 0.15441939234733582
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004837036132812,
                "transform": {
                    "location": {
                        "x": 210.63140869140625,
                        "y": 5639.4638671875,
                        "z": 364.9891357421875
                    },
                    "rotation": {
                        "roll": 0.03302977606654167,
                        "pitch": -0.44476139545440674,
                        "yaw": 101.19818878173828
                    }
                },
                "velocity": {
                    "x": -1.6383275985717773,
                    "y": 7.835140705108643,
                    "z": -0.06223434954881668
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.796541929244995,
                "transform": {
                    "location": {
                        "x": 202.97506713867188,
                        "y": 5676.73486328125,
                        "z": 364.6828308105469
                    },
                    "rotation": {
                        "roll": -0.00823974423110485,
                        "pitch": 0.4003719985485077,
                        "yaw": -68.97367858886719
                    }
                },
                "velocity": {
                    "x": 1.3037828207015991,
                    "y": -3.565500020980835,
                    "z": 0.03303197771310806
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.297711372375488,
                "transform": {
                    "location": {
                        "x": 207.5856170654297,
                        "y": 5663.27734375,
                        "z": 364.80322265625
                    },
                    "rotation": {
                        "roll": 0.0043982104398310184,
                        "pitch": 0.36498481035232544,
                        "yaw": -72.23479461669922
                    }
                },
                "velocity": {
                    "x": 1.604967474937439,
                    "y": -5.048551082611084,
                    "z": 0.04427652433514595
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.645968914031982,
                "transform": {
                    "location": {
                        "x": 216.16226196289062,
                        "y": 5624.18115234375,
                        "z": 365.1395568847656
                    },
                    "rotation": {
                        "roll": 0.004728967323899269,
                        "pitch": 0.4648353159427643,
                        "yaw": -82.18894958496094
                    }
                },
                "velocity": {
                    "x": 0.7685678005218506,
                    "y": -5.593263626098633,
                    "z": 0.04090810567140579
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.257658004760742,
                "transform": {
                    "location": {
                        "x": 217.8016357421875,
                        "y": 5606.9013671875,
                        "z": 365.2294921875
                    },
                    "rotation": {
                        "roll": 0.02500004507601261,
                        "pitch": 0.2546772360801697,
                        "yaw": -86.62350463867188
                    }
                },
                "velocity": {
                    "x": 0.23359374701976776,
                    "y": -4.251140117645264,
                    "z": 0.029871482402086258
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.28763601183891296,
        "expert_target_speed": 6.873141629129754,
        "target_point": [
            34.67424091487551,
            -3.3922709820439376
        ],
        "target_point_next": [
            54.99082550152907,
            -7.677856258107176
        ]
    },
    "145": {
        "acceleration": [
            0.41022539138793945,
            -2.7067947387695312,
            0.00944674015045166
        ],
        "angular_velocity": [
            0.02740291692316532,
            0.1231205016374588,
            -2.023092269897461
        ],
        "forward_vector": [
            0.24430398643016815,
            -0.9696052074432373,
            0.013464758172631264
        ],
        "right_vector": [
            0.9696966409683228,
            0.24430812895298004,
            -0.0013602222315967083
        ],
        "location": [
            212.14382934570312,
            5647.4521484375,
            364.9219055175781
        ],
        "rotation": [
            0.07794208079576492,
            0.7714971303939819,
            -75.85798645019531
        ],
        "velocity": [
            1.6031075716018677,
            -6.523804187774658,
            0.050156477838754654
        ],
        "speed": 6.71788470923351,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.36606216430664,
        "front_vehicle_info": {
            "id": 5089,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                216.3828887939453,
                5622.44384765625,
                365.15093994140625
            ],
            "velocity": [
                0.9463717937469482,
                -7.977698802947998,
                0.057538583874702454
            ],
            "speed_kmh": 28.921829221670073,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 215.10076904296875,
                        "y": 5509.27783203125,
                        "z": 366.1931457519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5155016779899597,
                        "yaw": 95.91863250732422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0970476865768433,
                "transform": {
                    "location": {
                        "x": 215.427734375,
                        "y": 5595.5556640625,
                        "z": 365.2999572753906
                    },
                    "rotation": {
                        "roll": -0.010406497865915298,
                        "pitch": -0.27337148785591125,
                        "yaw": 90.68092346191406
                    }
                },
                "velocity": {
                    "x": -0.033254995942115784,
                    "y": 1.0954418182373047,
                    "z": 0.049143236130476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.068056106567383,
                "transform": {
                    "location": {
                        "x": 210.22093200683594,
                        "y": 5641.4306640625,
                        "z": 364.9734802246094
                    },
                    "rotation": {
                        "roll": 0.01124490238726139,
                        "pitch": -0.4481833279132843,
                        "yaw": 101.74458312988281
                    }
                },
                "velocity": {
                    "x": -1.6729216575622559,
                    "y": 7.892446041107178,
                    "z": -0.064568892121315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.899151802062988,
                "transform": {
                    "location": {
                        "x": 203.35406494140625,
                        "y": 5675.70751953125,
                        "z": 364.69256591796875
                    },
                    "rotation": {
                        "roll": -3.050976556551177e-05,
                        "pitch": 0.38837137818336487,
                        "yaw": -69.37039947509766
                    }
                },
                "velocity": {
                    "x": 1.6816604137420654,
                    "y": -4.601297378540039,
                    "z": 0.04207500442862511
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.688599586486816,
                "transform": {
                    "location": {
                        "x": 207.98382568359375,
                        "y": 5661.978515625,
                        "z": 364.81396484375
                    },
                    "rotation": {
                        "roll": -0.015167231671512127,
                        "pitch": 0.4000509977340698,
                        "yaw": -72.7665786743164
                    }
                },
                "velocity": {
                    "x": 1.6153581142425537,
                    "y": -5.45424222946167,
                    "z": 0.04501457139849663
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033841133117676,
                "transform": {
                    "location": {
                        "x": 216.3828887939453,
                        "y": 5622.44384765625,
                        "z": 365.15093994140625
                    },
                    "rotation": {
                        "roll": 0.03203339874744415,
                        "pitch": 0.6227697730064392,
                        "yaw": -82.7768325805664
                    }
                },
                "velocity": {
                    "x": 0.9463717937469482,
                    "y": -7.977698802947998,
                    "z": 0.057538583874702454
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5088,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.31529426574707,
                "transform": {
                    "location": {
                        "x": 217.86749267578125,
                        "y": 5605.6826171875,
                        "z": 365.23846435546875
                    },
                    "rotation": {
                        "roll": 0.01516922190785408,
                        "pitch": 0.5531359910964966,
                        "yaw": -86.80038452148438
                    }
                },
                "velocity": {
                    "x": 0.2840676009654999,
                    "y": -5.307549953460693,
                    "z": 0.039701879024505615
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2917121350765228,
        "expert_target_speed": 7.5207806993134305,
        "target_point": [
            33.102198162980294,
            -3.110229741227162
        ],
        "target_point_next": [
            53.45276079365095,
            -7.231449347146015
        ]
    },
    "150": {
        "acceleration": [
            0.1745295524597168,
            -1.7070293426513672,
            0.030286237597465515
        ],
        "angular_velocity": [
            0.2087639421224594,
            0.0666622743010521,
            -2.0966174602508545
        ],
        "forward_vector": [
            0.235578715801239,
            -0.9717721343040466,
            0.01270855963230133
        ],
        "right_vector": [
            0.9718542098999023,
            0.235577791929245,
            -0.001591208390891552
        ],
        "location": [
            212.5556182861328,
            5645.751953125,
            364.93548583984375
        ],
        "rotation": [
            0.09117692708969116,
            0.728166401386261,
            -76.37313842773438
        ],
        "velocity": [
            1.6695597171783447,
            -7.049326419830322,
            0.05527915060520172
        ],
        "speed": 7.2443379699281305,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.8914031982422,
                        "y": 5511.5224609375,
                        "z": 366.0124816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.264260768890381,
                "transform": {
                    "location": {
                        "x": 215.41358947753906,
                        "y": 5595.986328125,
                        "z": 365.3034362792969
                    },
                    "rotation": {
                        "roll": -0.01376341376453638,
                        "pitch": -0.22879765927791595,
                        "yaw": 91.06961059570312
                    }
                },
                "velocity": {
                    "x": -0.0742330476641655,
                    "y": 2.263033866882324,
                    "z": -0.006702222861349583
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00784969329834,
                "transform": {
                    "location": {
                        "x": 209.80499267578125,
                        "y": 5643.39599609375,
                        "z": 364.9577331542969
                    },
                    "rotation": {
                        "roll": 0.008403243497014046,
                        "pitch": -0.4473568797111511,
                        "yaw": 101.93993377685547
                    }
                },
                "velocity": {
                    "x": -1.6667698621749878,
                    "y": 7.8322062492370605,
                    "z": -0.06387500464916229
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.387372016906738,
                "transform": {
                    "location": {
                        "x": 203.80319213867188,
                        "y": 5674.4853515625,
                        "z": 364.7037353515625
                    },
                    "rotation": {
                        "roll": 0.0011117398971691728,
                        "pitch": 0.4429650604724884,
                        "yaw": -69.66377258300781
                    }
                },
                "velocity": {
                    "x": 1.8477388620376587,
                    "y": -5.060388565063477,
                    "z": 0.04591400921344757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.273599147796631,
                "transform": {
                    "location": {
                        "x": 208.4071044921875,
                        "y": 5660.55810546875,
                        "z": 364.82568359375
                    },
                    "rotation": {
                        "roll": -0.0014953670324757695,
                        "pitch": 0.3971344828605652,
                        "yaw": -73.21646881103516
                    }
                },
                "velocity": {
                    "x": 1.7729531526565552,
                    "y": -6.0176591873168945,
                    "z": 0.04955661669373512
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.28008919954299927,
        "expert_target_speed": 7.992354529239278,
        "target_point": [
            31.379471440224954,
            -2.8121219352857167
        ],
        "target_point_next": [
            51.766264924430864,
            -6.750205461240736
        ]
    },
    "155": {
        "acceleration": [
            -0.14809370040893555,
            -0.7712268829345703,
            -0.0022114068269729614
        ],
        "angular_velocity": [
            0.4370500445365906,
            0.2092510461807251,
            -2.24931263923645
        ],
        "forward_vector": [
            0.2262851744890213,
            -0.973996639251709,
            0.011202814988791943
        ],
        "right_vector": [
            0.9740608334541321,
            0.2262793630361557,
            -0.001801402191631496
        ],
        "location": [
            212.9764862060547,
            5643.94287109375,
            364.9502258300781
        ],
        "rotation": [
            0.10321927070617676,
            0.6418874859809875,
            -76.92070007324219
        ],
        "velocity": [
            1.6670823097229004,
            -7.347596168518066,
            0.05680875480175018
        ],
        "speed": 7.534343560192381,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.576171875,
                        "y": 5515.25732421875,
                        "z": 365.9541015625
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.756950616836548,
                "transform": {
                    "location": {
                        "x": 215.38742065429688,
                        "y": 5596.73779296875,
                        "z": 365.2991638183594
                    },
                    "rotation": {
                        "roll": -0.015350324101746082,
                        "pitch": -0.187106192111969,
                        "yaw": 91.51618957519531
                    }
                },
                "velocity": {
                    "x": -0.13252726197242737,
                    "y": 3.7545268535614014,
                    "z": -0.025342511013150215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06725788116455,
                "transform": {
                    "location": {
                        "x": 209.3621063232422,
                        "y": 5645.35546875,
                        "z": 364.9420166015625
                    },
                    "rotation": {
                        "roll": 0.023545041680336,
                        "pitch": -0.44625720381736755,
                        "yaw": 102.70639038085938
                    }
                },
                "velocity": {
                    "x": -1.8342399597167969,
                    "y": 7.855699062347412,
                    "z": -0.06482994556427002
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.768470764160156,
                "transform": {
                    "location": {
                        "x": 204.29139709472656,
                        "y": 5673.15234375,
                        "z": 364.7158203125
                    },
                    "rotation": {
                        "roll": 0.004357712808996439,
                        "pitch": 0.44683778285980225,
                        "yaw": -69.84365844726562
                    }
                },
                "velocity": {
                    "x": 1.9771828651428223,
                    "y": -5.418821811676025,
                    "z": 0.048750437796115875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.598061561584473,
                "transform": {
                    "location": {
                        "x": 208.8319549560547,
                        "y": 5659.12109375,
                        "z": 364.8368225097656
                    },
                    "rotation": {
                        "roll": 0.0015809248434379697,
                        "pitch": 0.4832495152950287,
                        "yaw": -73.45572662353516
                    }
                },
                "velocity": {
                    "x": 1.5782341957092285,
                    "y": -5.370804309844971,
                    "z": 0.04393588751554489
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2900698482990265,
        "expert_target_speed": 8.219112256339448,
        "target_point": [
            29.547520566431665,
            -2.51266443834116
        ],
        "target_point_next": [
            49.97101830895313,
            -6.255736757476855
        ]
    },
    "160": {
        "acceleration": [
            -0.39202213287353516,
            0.383453369140625,
            -0.014408305287361145
        ],
        "angular_velocity": [
            0.4175735116004944,
            0.1027776375412941,
            -2.2950549125671387
        ],
        "forward_vector": [
            0.21674534678459167,
            -0.976185142993927,
            0.009170522913336754
        ],
        "right_vector": [
            0.9762281775474548,
            0.21673683822155,
            -0.0019229529425501823
        ],
        "location": [
            213.38616943359375,
            5642.1044921875,
            364.9651794433594
        ],
        "rotation": [
            0.1101817861199379,
            0.5254396200180054,
            -77.48152160644531
        ],
        "velocity": [
            1.593621850013733,
            -7.354238033294678,
            0.05666494369506836
        ],
        "speed": 7.524921770437163,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.33218383789062,
                        "y": 5518.98291015625,
                        "z": 365.9202575683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.184030532836914,
                "transform": {
                    "location": {
                        "x": 215.3453826904297,
                        "y": 5597.86572265625,
                        "z": 365.29144287109375
                    },
                    "rotation": {
                        "roll": -0.01815796084702015,
                        "pitch": -0.18035796284675598,
                        "yaw": 91.9114990234375
                    }
                },
                "velocity": {
                    "x": -0.1969316005706787,
                    "y": 5.180192947387695,
                    "z": -0.031538017094135284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.008209228515625,
                "transform": {
                    "location": {
                        "x": 208.90670776367188,
                        "y": 5647.3125,
                        "z": 364.92633056640625
                    },
                    "rotation": {
                        "roll": 0.008939120918512344,
                        "pitch": -0.44652360677719116,
                        "yaw": 103.08226776123047
                    }
                },
                "velocity": {
                    "x": -1.8320045471191406,
                    "y": 7.795585632324219,
                    "z": -0.06340630352497101
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.046034336090088,
                "transform": {
                    "location": {
                        "x": 204.85679626464844,
                        "y": 5671.56689453125,
                        "z": 364.73077392578125
                    },
                    "rotation": {
                        "roll": -0.026977533474564552,
                        "pitch": 0.3801478147506714,
                        "yaw": -70.34508514404297
                    }
                },
                "velocity": {
                    "x": 2.287201166152954,
                    "y": -6.664212703704834,
                    "z": 0.05983734875917435
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3023624420166016,
                "transform": {
                    "location": {
                        "x": 209.13983154296875,
                        "y": 5658.0673828125,
                        "z": 364.84320068359375
                    },
                    "rotation": {
                        "roll": -0.0035400083288550377,
                        "pitch": 0.7332002520561218,
                        "yaw": -73.8014144897461
                    }
                },
                "velocity": {
                    "x": 0.6222109198570251,
                    "y": -2.2166225910186768,
                    "z": 0.01763334311544895
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2971866726875305,
        "expert_target_speed": 8.208301956147942,
        "target_point": [
            27.68722429200185,
            -2.2248076043233644
        ],
        "target_point_next": [
            48.146379966786675,
            -5.767800618708081
        ]
    },
    "165": {
        "acceleration": [
            -0.31438589096069336,
            -0.08938789367675781,
            -0.007645562291145325
        ],
        "angular_velocity": [
            0.13673192262649536,
            0.06355026364326477,
            -2.3839874267578125
        ],
        "forward_vector": [
            0.20664100348949432,
            -0.9783841967582703,
            0.007995519787073135
        ],
        "right_vector": [
            0.9784168004989624,
            0.2066311538219452,
            -0.002046755747869611
        ],
        "location": [
            213.7752227783203,
            5640.26904296875,
            364.97979736328125
        ],
        "rotation": [
            0.11727429181337357,
            0.4581144154071808,
            -78.07403564453125
        ],
        "velocity": [
            1.5067062377929688,
            -7.3277740478515625,
            0.05665460601449013
        ],
        "speed": 7.481071860593983,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.15171813964844,
                        "y": 5522.5576171875,
                        "z": 365.8885192871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.514335632324219,
                "transform": {
                    "location": {
                        "x": 215.29124450683594,
                        "y": 5599.216796875,
                        "z": 365.28179931640625
                    },
                    "rotation": {
                        "roll": -0.020629871636629105,
                        "pitch": -0.30983784794807434,
                        "yaw": 92.2353286743164
                    }
                },
                "velocity": {
                    "x": -0.23781077563762665,
                    "y": 5.509061336517334,
                    "z": -0.03981349244713783
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064732551574707,
                "transform": {
                    "location": {
                        "x": 208.4352264404297,
                        "y": 5649.265625,
                        "z": 364.9105529785156
                    },
                    "rotation": {
                        "roll": 0.03457232564687729,
                        "pitch": -0.4475686252117157,
                        "yaw": 103.63475036621094
                    }
                },
                "velocity": {
                    "x": -1.9874746799468994,
                    "y": 7.815733432769775,
                    "z": -0.06461566686630249
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.074583530426025,
                "transform": {
                    "location": {
                        "x": 205.39468383789062,
                        "y": 5670.00537109375,
                        "z": 364.7433776855469
                    },
                    "rotation": {
                        "roll": -0.0038757240399718285,
                        "pitch": 0.550800085067749,
                        "yaw": -70.8694076538086
                    }
                },
                "velocity": {
                    "x": 1.9580873250961304,
                    "y": -5.750109672546387,
                    "z": 0.05188331380486488
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2936948537826538,
                "transform": {
                    "location": {
                        "x": 209.22711181640625,
                        "y": 5657.7529296875,
                        "z": 364.8468017578125
                    },
                    "rotation": {
                        "roll": 0.001636482309550047,
                        "pitch": 0.6068007946014404,
                        "yaw": -73.91380310058594
                    }
                },
                "velocity": {
                    "x": 0.339498370885849,
                    "y": -1.2483139038085938,
                    "z": 0.009985208511352539
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2977583408355713,
        "expert_target_speed": 8.170083379778829,
        "target_point": [
            25.8325220108415,
            -1.939737309478891
        ],
        "target_point_next": [
            46.327222175069124,
            -5.270970655173445
        ]
    },
    "170": {
        "acceleration": [
            -0.42603492736816406,
            0.7970809936523438,
            0.0054298341274261475
        ],
        "angular_velocity": [
            0.193562850356102,
            -0.025446346029639244,
            -2.2331151962280273
        ],
        "forward_vector": [
            0.1968141347169876,
            -0.9804136157035828,
            0.007305794861167669
        ],
        "right_vector": [
            0.9804407358169556,
            0.19680479168891907,
            -0.0019846579525619745
        ],
        "location": [
            214.14100646972656,
            5638.4521484375,
            364.9940490722656
        ],
        "rotation": [
            0.11371564120054245,
            0.41859495639801025,
            -78.64897155761719
        ],
        "velocity": [
            1.4092284440994263,
            -7.21292781829834,
            0.05667511746287346
        ],
        "speed": 7.349302859431018,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.052734375,
                        "y": 5525.9541015625,
                        "z": 365.85882568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.414529800415039,
                "transform": {
                    "location": {
                        "x": 215.21827697753906,
                        "y": 5600.791015625,
                        "z": 365.27069091796875
                    },
                    "rotation": {
                        "roll": -0.02343750186264515,
                        "pitch": -0.14492978155612946,
                        "yaw": 92.6067123413086
                    }
                },
                "velocity": {
                    "x": -0.35371342301368713,
                    "y": 7.405897617340088,
                    "z": -0.05309755727648735
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.009570121765137,
                "transform": {
                    "location": {
                        "x": 207.94171142578125,
                        "y": 5651.212890625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.009931571781635284,
                        "pitch": -0.4476300776004791,
                        "yaw": 104.18307495117188
                    }
                },
                "velocity": {
                    "x": -1.992018222808838,
                    "y": 7.757645130157471,
                    "z": -0.06344390660524368
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3831214904785156,
                "transform": {
                    "location": {
                        "x": 205.76820373535156,
                        "y": 5668.91162109375,
                        "z": 364.7508239746094
                    },
                    "rotation": {
                        "roll": 0.0034416259732097387,
                        "pitch": 0.7953140139579773,
                        "yaw": -71.0384750366211
                    }
                },
                "velocity": {
                    "x": 0.7677958607673645,
                    "y": -2.255967855453491,
                    "z": 0.019155072048306465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1142728328704834,
                "transform": {
                    "location": {
                        "x": 209.33984375,
                        "y": 5657.3427734375,
                        "z": 364.8517761230469
                    },
                    "rotation": {
                        "roll": -0.0005798329366371036,
                        "pitch": 0.3974008858203888,
                        "yaw": -74.0783462524414
                    }
                },
                "velocity": {
                    "x": 0.5534915924072266,
                    "y": -2.0404796600341797,
                    "z": 0.015479974448680878
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.31302720308303833,
        "expert_target_speed": 8.062083736037113,
        "target_point": [
            23.997336322350975,
            -1.6814588140923914
        ],
        "target_point_next": [
            44.52443110281673,
            -4.806875634107737
        ]
    },
    "175": {
        "acceleration": [
            -0.3272557258605957,
            0.0065898895263671875,
            -0.00237099826335907
        ],
        "angular_velocity": [
            -0.05613885447382927,
            0.06573759764432907,
            -2.2837932109832764
        ],
        "forward_vector": [
            0.18712680041790009,
            -0.9823111295700073,
            0.006959262769669294
        ],
        "right_vector": [
            0.98233562707901,
            0.18711760640144348,
            -0.001955942017957568
        ],
        "location": [
            214.48297119140625,
            5636.6611328125,
            365.00799560546875
        ],
        "rotation": [
            0.1120700016617775,
            0.39873960614204407,
            -79.21458435058594
        ],
        "velocity": [
            1.3171359300613403,
            -7.126075267791748,
            0.05624135956168175
        ],
        "speed": 7.246778303528527,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 213.990234375,
                        "y": 5529.1796875,
                        "z": 365.8308410644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.48891857266426086,
                        "yaw": 89.43575286865234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.305703163146973,
                "transform": {
                    "location": {
                        "x": 215.12132263183594,
                        "y": 5602.78466796875,
                        "z": 365.25640869140625
                    },
                    "rotation": {
                        "roll": -0.01126099657267332,
                        "pitch": -0.22790290415287018,
                        "yaw": 92.71328735351562
                    }
                },
                "velocity": {
                    "x": -0.4069838225841522,
                    "y": 8.29551887512207,
                    "z": -0.058676719665527344
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066349983215332,
                "transform": {
                    "location": {
                        "x": 207.4422607421875,
                        "y": 5653.1591796875,
                        "z": 364.87908935546875
                    },
                    "rotation": {
                        "roll": 0.008467369712889194,
                        "pitch": -0.44625720381736755,
                        "yaw": 104.38021087646484
                    }
                },
                "velocity": {
                    "x": -2.0137672424316406,
                    "y": 7.810669422149658,
                    "z": -0.06476905196905136
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5842833518981934,
                "transform": {
                    "location": {
                        "x": 205.81671142578125,
                        "y": 5668.7685546875,
                        "z": 364.75286865234375
                    },
                    "rotation": {
                        "roll": 0.0029617231339216232,
                        "pitch": 0.7023482918739319,
                        "yaw": -71.02392578125
                    }
                },
                "velocity": {
                    "x": 0.18733613193035126,
                    "y": -0.5534145832061768,
                    "z": 0.004951076582074165
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.97986102104187,
                "transform": {
                    "location": {
                        "x": 209.50881958007812,
                        "y": 5656.72607421875,
                        "z": 364.8570556640625
                    },
                    "rotation": {
                        "roll": -0.0014648371143266559,
                        "pitch": 0.3572257161140442,
                        "yaw": -74.27486419677734
                    }
                },
                "velocity": {
                    "x": 0.7805017828941345,
                    "y": -2.875737190246582,
                    "z": 0.022909794002771378
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.30517712235450745,
        "expert_target_speed": 7.976003701008283,
        "target_point": [
            22.189396111346394,
            -1.4452559646702952
        ],
        "target_point_next": [
            42.74634327658142,
            -4.3678872569811285
        ]
    },
    "180": {
        "acceleration": [
            -0.35255908966064453,
            0.6095695495605469,
            -0.015573352575302124
        ],
        "angular_velocity": [
            0.04993639141321182,
            -0.010147016495466232,
            -2.188586711883545
        ],
        "forward_vector": [
            0.1775677502155304,
            -0.9840839505195618,
            0.006959262769669294
        ],
        "right_vector": [
            0.9841083884239197,
            0.17755888402462006,
            -0.0018747076392173767
        ],
        "location": [
            214.80288696289062,
            5634.89306640625,
            365.02166748046875
        ],
        "rotation": [
            0.10741549730300903,
            0.39873960614204407,
            -79.7716293334961
        ],
        "velocity": [
            1.2307389974594116,
            -7.03438138961792,
            0.05457029119133949
        ],
        "speed": 7.141235188289932,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 74.18563842773438,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                264.7335205078125,
                5580.03857421875,
                366.2156066894531
            ],
            "velocity": [
                0.0,
                0.0,
                -0.4899999797344208
            ],
            "speed_kmh": 1.7639999270439148,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 168.49124145507812,
                        "y": 5583.5205078125,
                        "z": 366.13128662109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7924794554710388,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 168.49905395507812,
                        "y": 5586.7705078125,
                        "z": 366.13128662109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7924794554710388,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 264.7335205078125,
                        "y": 5580.03857421875,
                        "z": 366.2156066894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9479414224624634,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 120.97577667236328,
                        "y": 5577.134765625,
                        "z": 366.666748046875
                    },
                    "rotation": {
                        "roll": 1.0423571727979919e-10,
                        "pitch": 0.982024073600769,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 105.97577667236328,
                        "y": 5577.17041015625,
                        "z": 366.91357421875
                    },
                    "rotation": {
                        "roll": 1.0423337887255357e-10,
                        "pitch": 0.9036886096000671,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 120.98358917236328,
                        "y": 5580.384765625,
                        "z": 366.666748046875
                    },
                    "rotation": {
                        "roll": 1.0423571727979919e-10,
                        "pitch": 0.982024073600769,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 105.98358917236328,
                        "y": 5580.42041015625,
                        "z": 366.91357421875
                    },
                    "rotation": {
                        "roll": 1.0423337887255357e-10,
                        "pitch": 0.9036886096000671,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 213.9851531982422,
                        "y": 5532.2431640625,
                        "z": 365.8047180175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.48891857266426086,
                        "yaw": 89.43575286865234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.023309707641602,
                "transform": {
                    "location": {
                        "x": 215.01577758789062,
                        "y": 5604.8310546875,
                        "z": 365.2416076660156
                    },
                    "rotation": {
                        "roll": -0.029479999095201492,
                        "pitch": -0.4028991758823395,
                        "yaw": 92.90856170654297
                    }
                },
                "velocity": {
                    "x": -0.4565054178237915,
                    "y": 8.010112762451172,
                    "z": -0.056612543761730194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.007013320922852,
                "transform": {
                    "location": {
                        "x": 206.91656494140625,
                        "y": 5655.09814453125,
                        "z": 364.8634033203125
                    },
                    "rotation": {
                        "roll": 0.023439910262823105,
                        "pitch": -0.4478759765625,
                        "yaw": 105.14457702636719
                    }
                },
                "velocity": {
                    "x": -2.1502737998962402,
                    "y": 7.71261739730835,
                    "z": -0.06414935737848282
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4356698989868164,
                "transform": {
                    "location": {
                        "x": 205.90304565429688,
                        "y": 5668.51611328125,
                        "z": 364.75732421875
                    },
                    "rotation": {
                        "roll": 0.0028048045933246613,
                        "pitch": 0.4272761344909668,
                        "yaw": -71.07176971435547
                    }
                },
                "velocity": {
                    "x": 0.46170783042907715,
                    "y": -1.3593480587005615,
                    "z": 0.012117338366806507
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.070329666137695,
                "transform": {
                    "location": {
                        "x": 209.74171447753906,
                        "y": 5655.87353515625,
                        "z": 364.8641357421875
                    },
                    "rotation": {
                        "roll": -0.0003967314260080457,
                        "pitch": 0.33688539266586304,
                        "yaw": -74.46607971191406
                    }
                },
                "velocity": {
                    "x": 1.0657641887664795,
                    "y": -3.928204298019409,
                    "z": 0.030649356544017792
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3081202507019043,
        "expert_target_speed": 7.8863679084540514,
        "target_point": [
            20.405622698679476,
            -1.230325911672829
        ],
        "target_point_next": [
            40.990013318986364,
            -3.9529557461675635
        ]
    },
    "185": {
        "acceleration": [
            -0.29418468475341797,
            -0.11688232421875,
            0.005140677094459534
        ],
        "angular_velocity": [
            -0.07406724989414215,
            -0.019294261932373047,
            -2.2353270053863525
        ],
        "forward_vector": [
            0.16807875037193298,
            -0.9857484698295593,
            0.007034958340227604
        ],
        "right_vector": [
            0.9857733249664307,
            0.1680700182914734,
            -0.0018187034875154495
        ],
        "location": [
            215.10218811035156,
            5633.140625,
            365.0350036621094
        ],
        "rotation": [
            0.10420666635036469,
            0.40307676792144775,
            -80.32362365722656
        ],
        "velocity": [
            1.1516838073730469,
            -6.9906511306762695,
            0.052732162177562714
        ],
        "speed": 7.084883825652379,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 71.43079376220703,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                262.8765563964844,
                5580.04296875,
                365.81396484375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 215.05226135253906,
                        "y": 5509.857421875,
                        "z": 366.05474853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2565138339996338,
                "transform": {
                    "location": {
                        "x": 168.49008178710938,
                        "y": 5583.5205078125,
                        "z": 365.745849609375
                    },
                    "rotation": {
                        "roll": 0.00039100911817513406,
                        "pitch": -0.8032165169715881,
                        "yaw": -0.137603759765625
                    }
                },
                "velocity": {
                    "x": -0.01709020882844925,
                    "y": -3.963637936976738e-05,
                    "z": -1.2563976049423218
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8641304969787598,
                "transform": {
                    "location": {
                        "x": 168.4977264404297,
                        "y": 5586.7705078125,
                        "z": 365.7670593261719
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.7987632751464844,
                        "yaw": -0.1376953125
                    }
                },
                "velocity": {
                    "x": -0.011957715265452862,
                    "y": -0.0003276278148405254,
                    "z": -0.8640477061271667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 262.8765563964844,
                        "y": 5580.04296875,
                        "z": 365.81396484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8347173929214478,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 119.82257843017578,
                        "y": 5577.13720703125,
                        "z": 366.65576171875
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 119.83039093017578,
                        "y": 5580.38720703125,
                        "z": 366.65576171875
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.02671813964844,
                        "y": 5535.1513671875,
                        "z": 365.7801513671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4802852272987366,
                        "yaw": 88.2802734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9792070388793945,
                "transform": {
                    "location": {
                        "x": 214.8965606689453,
                        "y": 5606.81103515625,
                        "z": 365.22747802734375
                    },
                    "rotation": {
                        "roll": -0.02420041337609291,
                        "pitch": -0.40764614939689636,
                        "yaw": 93.3257064819336
                    }
                },
                "velocity": {
                    "x": -0.49520668387413025,
                    "y": 7.96362829208374,
                    "z": -0.05602411925792694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06814193725586,
                "transform": {
                    "location": {
                        "x": 206.37765502929688,
                        "y": 5657.03369140625,
                        "z": 364.8475646972656
                    },
                    "rotation": {
                        "roll": 0.010342642664909363,
                        "pitch": -0.45229509472846985,
                        "yaw": 105.52828216552734
                    }
                },
                "velocity": {
                    "x": -2.1803407669067383,
                    "y": 7.767683029174805,
                    "z": -0.0642513707280159
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.331643581390381,
                "transform": {
                    "location": {
                        "x": 206.05686950683594,
                        "y": 5668.064453125,
                        "z": 364.76165771484375
                    },
                    "rotation": {
                        "roll": 0.004422957543283701,
                        "pitch": 0.39152008295059204,
                        "yaw": -71.10902404785156
                    }
                },
                "velocity": {
                    "x": 0.7496159672737122,
                    "y": -2.207777738571167,
                    "z": 0.01884627342224121
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.147639751434326,
                "transform": {
                    "location": {
                        "x": 210.04640197753906,
                        "y": 5654.75537109375,
                        "z": 364.8732604980469
                    },
                    "rotation": {
                        "roll": 0.0028763581067323685,
                        "pitch": 0.33138027787208557,
                        "yaw": -74.62247467041016
                    }
                },
                "velocity": {
                    "x": 1.3474875688552856,
                    "y": -4.967957973480225,
                    "z": 0.04317689687013626
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2940210700035095,
        "expert_target_speed": 7.835265871068068,
        "target_point": [
            18.638712072825022,
            -1.0341692567356504
        ],
        "target_point_next": [
            39.248377197438764,
            -3.55836296490049
        ]
    },
    "190": {
        "acceleration": [
            -0.3383827209472656,
            0.6648063659667969,
            -0.0006074458360671997
        ],
        "angular_velocity": [
            0.0956268236041069,
            0.013428297825157642,
            -2.131115436553955
        ],
        "forward_vector": [
            0.15868094563484192,
            -0.9873051643371582,
            0.006990017835050821
        ],
        "right_vector": [
            0.9873297214508057,
            0.15867240726947784,
            -0.0017613059608265758
        ],
        "location": [
            215.3817901611328,
            5631.40283203125,
            365.0481262207031
        ],
        "rotation": [
            0.10091792047023773,
            0.4005017876625061,
            -80.86943054199219
        ],
        "velocity": [
            1.0722579956054688,
            -6.910022258758545,
            0.052855148911476135
        ],
        "speed": 6.992720845685062,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 68.63825988769531,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                260.91357421875,
                5580.0458984375,
                365.778076171875
            ],
            "velocity": [
                -6.696703910827637,
                -0.018481994047760963,
                -0.12651203572750092
            ],
            "speed_kmh": 24.112527539136654,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.7839813232422,
                        "y": 5512.634765625,
                        "z": 365.9842529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.139842227101326,
                "transform": {
                    "location": {
                        "x": 168.4892120361328,
                        "y": 5583.5205078125,
                        "z": 365.6912841796875
                    },
                    "rotation": {
                        "roll": 0.00012890608923044056,
                        "pitch": -0.8122870326042175,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0019554588943719864,
                    "y": -0.00014500618271995336,
                    "z": 0.13982848823070526
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.13114897906780243,
                "transform": {
                    "location": {
                        "x": 168.49742126464844,
                        "y": 5586.7705078125,
                        "z": 365.7566833496094
                    },
                    "rotation": {
                        "roll": 0.00021798971283715218,
                        "pitch": -0.7995350956916809,
                        "yaw": -0.137725830078125
                    }
                },
                "velocity": {
                    "x": 0.0018583879573270679,
                    "y": -0.0002070344053208828,
                    "z": 0.13113565742969513
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.697924613952637,
                "transform": {
                    "location": {
                        "x": 260.91357421875,
                        "y": 5580.0458984375,
                        "z": 365.778076171875
                    },
                    "rotation": {
                        "roll": -0.01724242977797985,
                        "pitch": -1.1094002723693848,
                        "yaw": 179.91319274902344
                    }
                },
                "velocity": {
                    "x": -6.696703910827637,
                    "y": -0.018481994047760963,
                    "z": -0.12651203572750092
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 119.06742095947266,
                        "y": 5577.13916015625,
                        "z": 366.6384582519531
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 119.07523345947266,
                        "y": 5580.38916015625,
                        "z": 366.6384582519531
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.0856170654297,
                        "y": 5537.91259765625,
                        "z": 365.75689697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4802852272987366,
                        "yaw": 88.2802734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.15444278717041,
                "transform": {
                    "location": {
                        "x": 214.76710510253906,
                        "y": 5608.8349609375,
                        "z": 365.21307373046875
                    },
                    "rotation": {
                        "roll": -0.011810301803052425,
                        "pitch": -0.3933095932006836,
                        "yaw": 93.55101013183594
                    }
                },
                "velocity": {
                    "x": -0.5302679538726807,
                    "y": 8.136985778808594,
                    "z": -0.056716833263635635
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004739761352539,
                "transform": {
                    "location": {
                        "x": 205.82359313964844,
                        "y": 5658.96484375,
                        "z": 364.83154296875
                    },
                    "rotation": {
                        "roll": 0.03446047753095627,
                        "pitch": -0.45580580830574036,
                        "yaw": 106.07645416259766
                    }
                },
                "velocity": {
                    "x": -2.3002829551696777,
                    "y": 7.66684103012085,
                    "z": -0.06402663886547089
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2310550212860107,
                "transform": {
                    "location": {
                        "x": 206.27210998535156,
                        "y": 5667.40380859375,
                        "z": 364.7674865722656
                    },
                    "rotation": {
                        "roll": -0.006652845535427332,
                        "pitch": 0.38244959712028503,
                        "yaw": -71.4249267578125
                    }
                },
                "velocity": {
                    "x": 0.9787148833274841,
                    "y": -3.079146385192871,
                    "z": 0.026312274858355522
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.6111836433410645,
                "transform": {
                    "location": {
                        "x": 210.39491271972656,
                        "y": 5653.47216796875,
                        "z": 364.8832092285156
                    },
                    "rotation": {
                        "roll": 0.0035742169711738825,
                        "pitch": 0.38462159037590027,
                        "yaw": -74.68072509765625
                    }
                },
                "velocity": {
                    "x": 1.4695769548416138,
                    "y": -5.415152072906494,
                    "z": 0.04306774213910103
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.27603524923324585,
        "expert_target_speed": 7.754215098174703,
        "target_point": [
            16.88757520587234,
            -0.8568715715210149
        ],
        "target_point_next": [
            37.52035022907162,
            -3.1846269854558438
        ]
    },
    "195": {
        "acceleration": [
            -0.16328811645507812,
            0.06784439086914062,
            0.001850128173828125
        ],
        "angular_velocity": [
            -0.027227893471717834,
            -0.07987472414970398,
            -1.3032019138336182
        ],
        "forward_vector": [
            0.15118414163589478,
            -0.9884816408157349,
            0.006890361197292805
        ],
        "right_vector": [
            0.9885055422782898,
            0.15117886662483215,
            -0.0012839167611673474
        ],
        "location": [
            215.6443634033203,
            5629.68505859375,
            365.0610046386719
        ],
        "rotation": [
            0.07356478273868561,
            0.39479175209999084,
            -81.30423736572266
        ],
        "velocity": [
            1.021859049797058,
            -6.834849834442139,
            0.05211905390024185
        ],
        "speed": 6.910815304797682,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 66.05201721191406,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                259.2027282714844,
                5580.03564453125,
                365.74920654296875
            ],
            "velocity": [
                -6.965433597564697,
                -0.07965901494026184,
                -0.09799985587596893
            ],
            "speed_kmh": 25.079682273369187,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.58273315429688,
                        "y": 5515.26318359375,
                        "z": 365.9574890136719
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2282867431640625,
                "transform": {
                    "location": {
                        "x": 168.61944580078125,
                        "y": 5583.52197265625,
                        "z": 365.7204895019531
                    },
                    "rotation": {
                        "roll": -0.010528564453125,
                        "pitch": -0.49731287360191345,
                        "yaw": -0.11257932335138321
                    }
                },
                "velocity": {
                    "x": 1.226102352142334,
                    "y": 0.00922875851392746,
                    "z": 0.07263677567243576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1878328323364258,
                "transform": {
                    "location": {
                        "x": 168.61952209472656,
                        "y": 5586.77099609375,
                        "z": 365.77294921875
                    },
                    "rotation": {
                        "roll": -0.004913330078125,
                        "pitch": -0.7014740705490112,
                        "yaw": -0.0939636081457138
                    }
                },
                "velocity": {
                    "x": 1.1876369714736938,
                    "y": 0.012440559454262257,
                    "z": 0.017618579789996147
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.966578483581543,
                "transform": {
                    "location": {
                        "x": 259.2027282714844,
                        "y": 5580.03564453125,
                        "z": 365.74920654296875
                    },
                    "rotation": {
                        "roll": -0.0532531701028347,
                        "pitch": -0.9782674312591553,
                        "yaw": -179.63592529296875
                    }
                },
                "velocity": {
                    "x": -6.965433597564697,
                    "y": -0.07965901494026184,
                    "z": -0.09799985587596893
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 117.95484161376953,
                        "y": 5577.1396484375,
                        "z": 366.6130676269531
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 117.96265411376953,
                        "y": 5580.3896484375,
                        "z": 366.6130676269531
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.16326904296875,
                        "y": 5540.53369140625,
                        "z": 365.7350769042969
                    },
                    "rotation": {
                        "roll": 5.336265829214426e-08,
                        "pitch": -0.4716450273990631,
                        "yaw": 88.28025817871094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9713215827941895,
                "transform": {
                    "location": {
                        "x": 214.61663818359375,
                        "y": 5610.84033203125,
                        "z": 365.1988220214844
                    },
                    "rotation": {
                        "roll": -0.037628158926963806,
                        "pitch": -0.42101967334747314,
                        "yaw": 94.2129135131836
                    }
                },
                "velocity": {
                    "x": -0.6263807415962219,
                    "y": 7.946475028991699,
                    "z": -0.05609498545527458
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.068063735961914,
                "transform": {
                    "location": {
                        "x": 205.2470245361328,
                        "y": 5660.88916015625,
                        "z": 364.8153076171875
                    },
                    "rotation": {
                        "roll": 0.012690892443060875,
                        "pitch": -0.46340781450271606,
                        "yaw": 106.63319396972656
                    }
                },
                "velocity": {
                    "x": -2.3400213718414307,
                    "y": 7.720993995666504,
                    "z": -0.06488083302974701
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.350783348083496,
                "transform": {
                    "location": {
                        "x": 206.56350708007812,
                        "y": 5666.49658203125,
                        "z": 364.77545166015625
                    },
                    "rotation": {
                        "roll": -0.0017700281459838152,
                        "pitch": 0.36208879947662354,
                        "yaw": -71.77958679199219
                    }
                },
                "velocity": {
                    "x": 1.3173747062683105,
                    "y": -4.146395206451416,
                    "z": 0.03532026335597038
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.650116443634033,
                "transform": {
                    "location": {
                        "x": 210.74960327148438,
                        "y": 5652.0927734375,
                        "z": 364.89385986328125
                    },
                    "rotation": {
                        "roll": -0.010833727195858955,
                        "pitch": 0.4176660478115082,
                        "yaw": -75.30435943603516
                    }
                },
                "velocity": {
                    "x": 1.3711975812911987,
                    "y": -5.481031894683838,
                    "z": 0.043853893876075745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2718488872051239,
        "expert_target_speed": 7.680632514295703,
        "target_point": [
            15.155865777504664,
            -0.7285430766893504
        ],
        "target_point_next": [
            35.8057110370209,
            -2.899658270108089
        ]
    },
    "200": {
        "acceleration": [
            -0.25629520416259766,
            0.9360027313232422,
            -0.015225410461425781
        ],
        "angular_velocity": [
            0.15694521367549896,
            -0.06331802159547806,
            -1.1530698537826538
        ],
        "forward_vector": [
            0.14598236978054047,
            -0.9892651438713074,
            0.006601762026548386
        ],
        "right_vector": [
            0.9892871975898743,
            0.14597855508327484,
            -0.0010619604727253318
        ],
        "location": [
            215.89373779296875,
            5627.9951171875,
            365.07373046875
        ],
        "rotation": [
            0.060847196727991104,
            0.37825584411621094,
            -81.60564422607422
        ],
        "velocity": [
            0.9653751254081726,
            -6.686014652252197,
            0.0499272421002388
        ],
        "speed": 6.755349070395098,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.495941162109375,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                257.4867858886719,
                5580.02294921875,
                365.72467041015625
            ],
            "velocity": [
                -6.754997253417969,
                -0.046860456466674805,
                -0.0874854177236557
            ],
            "speed_kmh": 24.320614587776145,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.35546875,
                        "y": 5518.423828125,
                        "z": 365.9254150390625
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.078315258026123,
                "transform": {
                    "location": {
                        "x": 169.04342651367188,
                        "y": 5583.52490234375,
                        "z": 365.7274475097656
                    },
                    "rotation": {
                        "roll": -0.01593017578125,
                        "pitch": -0.41787779331207275,
                        "yaw": 0.021924614906311035
                    }
                },
                "velocity": {
                    "x": 2.07822585105896,
                    "y": 0.019190559163689613,
                    "z": -0.0018046378390863538
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.114150285720825,
                "transform": {
                    "location": {
                        "x": 169.03343200683594,
                        "y": 5586.7744140625,
                        "z": 365.7708435058594
                    },
                    "rotation": {
                        "roll": -0.005340574774891138,
                        "pitch": -0.6927177309989929,
                        "yaw": 0.05021727457642555
                    }
                },
                "velocity": {
                    "x": 2.113898515701294,
                    "y": 0.02278335765004158,
                    "z": -0.02336038462817669
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.755726337432861,
                "transform": {
                    "location": {
                        "x": 257.4867858886719,
                        "y": 5580.02294921875,
                        "z": 365.72467041015625
                    },
                    "rotation": {
                        "roll": 0.004631555639207363,
                        "pitch": -0.7773369550704956,
                        "yaw": -179.53285217285156
                    }
                },
                "velocity": {
                    "x": -6.754997253417969,
                    "y": -0.046860456466674805,
                    "z": -0.0874854177236557
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 117.22624969482422,
                        "y": 5577.1416015625,
                        "z": 366.5964050292969
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 117.23406219482422,
                        "y": 5580.3916015625,
                        "z": 366.5964050292969
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.23670959472656,
                        "y": 5543.0234375,
                        "z": 365.7144470214844
                    },
                    "rotation": {
                        "roll": 5.336265829214426e-08,
                        "pitch": -0.4716450273990631,
                        "yaw": 88.28025817871094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.107982635498047,
                "transform": {
                    "location": {
                        "x": 214.4529571533203,
                        "y": 5612.84375,
                        "z": 365.18450927734375
                    },
                    "rotation": {
                        "roll": -0.022125260904431343,
                        "pitch": -0.4025235176086426,
                        "yaw": 94.57181549072266
                    }
                },
                "velocity": {
                    "x": -0.6745941638946533,
                    "y": 8.079666137695312,
                    "z": -0.05750797688961029
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006139755249023,
                "transform": {
                    "location": {
                        "x": 204.66273498535156,
                        "y": 5662.81103515625,
                        "z": 364.7989807128906
                    },
                    "rotation": {
                        "roll": 0.025121884420514107,
                        "pitch": -0.46753326058387756,
                        "yaw": 106.92884826660156
                    }
                },
                "velocity": {
                    "x": -2.4214277267456055,
                    "y": 7.630904197692871,
                    "z": -0.06523743271827698
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.217559814453125,
                "transform": {
                    "location": {
                        "x": 206.93592834472656,
                        "y": 5665.33154296875,
                        "z": 364.7857666015625
                    },
                    "rotation": {
                        "roll": 0.0012591684935614467,
                        "pitch": 0.3676622211933136,
                        "yaw": -72.0524673461914
                    }
                },
                "velocity": {
                    "x": 1.5798012018203735,
                    "y": -4.972443580627441,
                    "z": 0.04429992660880089
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.575293064117432,
                "transform": {
                    "location": {
                        "x": 211.08984375,
                        "y": 5650.7412109375,
                        "z": 364.90435791015625
                    },
                    "rotation": {
                        "roll": -0.0014953645877540112,
                        "pitch": 0.4533059597015381,
                        "yaw": -75.69001007080078
                    }
                },
                "velocity": {
                    "x": 1.3455826044082642,
                    "y": -5.410305023193359,
                    "z": 0.04358822852373123
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2823587656021118,
        "expert_target_speed": 7.545320542095457,
        "target_point": [
            13.451246962036596,
            -0.6488003325484848
        ],
        "target_point_next": [
            34.1122277797643,
            -2.7112556834704584
        ]
    },
    "205": {
        "acceleration": [
            -0.18367290496826172,
            0.19281387329101562,
            -0.0012014806270599365
        ],
        "angular_velocity": [
            -0.05178123712539673,
            -0.021754175424575806,
            -1.179052472114563
        ],
        "forward_vector": [
            0.14094318449497223,
            -0.9899968504905701,
            0.006419614423066378
        ],
        "right_vector": [
            0.9900177121162415,
            0.1409398764371872,
            -0.0009659276693128049
        ],
        "location": [
            216.12921142578125,
            5626.33984375,
            365.08599853515625
        ],
        "rotation": [
            0.055344730615615845,
            0.36781933903694153,
            -81.89740753173828
        ],
        "velocity": [
            0.9122557640075684,
            -6.562679290771484,
            0.04862375929951668
        ],
        "speed": 6.625780712677257,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 61.07508087158203,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                255.9228057861328,
                5580.01220703125,
                365.70660400390625
            ],
            "velocity": [
                -5.6931962966918945,
                -0.03445345163345337,
                -0.07160575687885284
            ],
            "speed_kmh": 20.497502982716817,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.23475646972656,
                        "y": 5520.86669921875,
                        "z": 365.90362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.346212863922119,
                "transform": {
                    "location": {
                        "x": 169.71702575683594,
                        "y": 5583.5302734375,
                        "z": 365.7213439941406
                    },
                    "rotation": {
                        "roll": -0.02032470516860485,
                        "pitch": -0.3211691379547119,
                        "yaw": 0.20570744574069977
                    }
                },
                "velocity": {
                    "x": 3.3458166122436523,
                    "y": 0.033037539571523666,
                    "z": -0.03951115533709526
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.385627031326294,
                "transform": {
                    "location": {
                        "x": 169.71780395507812,
                        "y": 5586.7802734375,
                        "z": 365.7616271972656
                    },
                    "rotation": {
                        "roll": -0.009094237349927425,
                        "pitch": -0.6659229397773743,
                        "yaw": 0.23240195214748383
                    }
                },
                "velocity": {
                    "x": 3.385106086730957,
                    "y": 0.03808089345693588,
                    "z": -0.045567724853754044
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.693750858306885,
                "transform": {
                    "location": {
                        "x": 255.9228057861328,
                        "y": 5580.01220703125,
                        "z": 365.70660400390625
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": -0.9797974228858948,
                        "yaw": -179.5937042236328
                    }
                },
                "velocity": {
                    "x": -5.6931962966918945,
                    "y": -0.03445345163345337,
                    "z": -0.07160575687885284
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1606216430664,
                        "y": 5580.3955078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.30764770507812,
                        "y": 5545.3857421875,
                        "z": 365.695068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4630116820335388,
                        "yaw": 88.2802734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020136833190918,
                "transform": {
                    "location": {
                        "x": 214.27687072753906,
                        "y": 5614.853515625,
                        "z": 365.17010498046875
                    },
                    "rotation": {
                        "roll": -0.041931137442588806,
                        "pitch": -0.41430559754371643,
                        "yaw": 94.96373748779297
                    }
                },
                "velocity": {
                    "x": -0.7544410824775696,
                    "y": 7.984371662139893,
                    "z": -0.056748464703559875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.067793846130371,
                "transform": {
                    "location": {
                        "x": 204.05108642578125,
                        "y": 5664.7255859375,
                        "z": 364.7824401855469
                    },
                    "rotation": {
                        "roll": 0.017862612381577492,
                        "pitch": -0.4757704734802246,
                        "yaw": 107.66851043701172
                    }
                },
                "velocity": {
                    "x": -2.4952621459960938,
                    "y": 7.671928405761719,
                    "z": -0.06694109737873077
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.828429222106934,
                "transform": {
                    "location": {
                        "x": 207.34898376464844,
                        "y": 5664.03564453125,
                        "z": 364.7965087890625
                    },
                    "rotation": {
                        "roll": 0.0011174570536240935,
                        "pitch": 0.40209320187568665,
                        "yaw": -72.24076080322266
                    }
                },
                "velocity": {
                    "x": 1.7613857984542847,
                    "y": -5.555708885192871,
                    "z": 0.046973731368780136
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.96881628036499,
                "transform": {
                    "location": {
                        "x": 211.43968200683594,
                        "y": 5649.33984375,
                        "z": 364.916015625
                    },
                    "rotation": {
                        "roll": 0.00360746867954731,
                        "pitch": 0.40120530128479004,
                        "yaw": -75.85889434814453
                    }
                },
                "velocity": {
                    "x": 1.4383271932601929,
                    "y": -5.7927470207214355,
                    "z": 0.04542020708322525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.27803894877433777,
        "expert_target_speed": 7.429223190984626,
        "target_point": [
            11.782438060083555,
            -0.5801130396182477
        ],
        "target_point_next": [
            32.45365363374701,
            -2.537329719547267
        ]
    },
    "210": {
        "acceleration": [
            -0.27452826499938965,
            0.8085918426513672,
            0.0022391974925994873
        ],
        "angular_velocity": [
            0.06724442541599274,
            -0.013229168951511383,
            -1.2918626070022583
        ],
        "forward_vector": [
            0.13582968711853027,
            -0.9907114505767822,
            0.006411865819245577
        ],
        "right_vector": [
            0.9907321929931641,
            0.1358262449502945,
            -0.0009704667027108371
        ],
        "location": [
            216.3512420654297,
            5624.71875,
            365.0979309082031
        ],
        "rotation": [
            0.05560480058193207,
            0.36737537384033203,
            -82.1932373046875
        ],
        "velocity": [
            0.8559919595718384,
            -6.421727657318115,
            0.0487511046230793
        ],
        "speed": 6.478526710573635,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.831607818603516,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                254.57882690429688,
                5580.00341796875,
                365.6885070800781
            ],
            "velocity": [
                -5.207162857055664,
                -0.030764590948820114,
                -0.0680563896894455
            ],
            "speed_kmh": 18.747714422074377,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.10787963867188,
                        "y": 5523.8291015625,
                        "z": 365.8773498535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.738183975219727,
                "transform": {
                    "location": {
                        "x": 170.74078369140625,
                        "y": 5583.54052734375,
                        "z": 365.7077331542969
                    },
                    "rotation": {
                        "roll": -0.02374267578125,
                        "pitch": -0.2196042239665985,
                        "yaw": 0.4021105468273163
                    }
                },
                "velocity": {
                    "x": 4.737481117248535,
                    "y": 0.05125860869884491,
                    "z": -0.06349141150712967
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.753517150878906,
                "transform": {
                    "location": {
                        "x": 170.74647521972656,
                        "y": 5586.79052734375,
                        "z": 365.74737548828125
                    },
                    "rotation": {
                        "roll": -0.010467529296875,
                        "pitch": -0.6495031714439392,
                        "yaw": 0.41636666655540466
                    }
                },
                "velocity": {
                    "x": 4.752747058868408,
                    "y": 0.05487915873527527,
                    "z": -0.06565308570861816
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.207698345184326,
                "transform": {
                    "location": {
                        "x": 254.57882690429688,
                        "y": 5580.00341796875,
                        "z": 365.6885070800781
                    },
                    "rotation": {
                        "roll": -0.0067138671875,
                        "pitch": -0.8858959674835205,
                        "yaw": -179.63592529296875
                    }
                },
                "velocity": {
                    "x": -5.207162857055664,
                    "y": -0.030764590948820114,
                    "z": -0.0680563896894455
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.3749237060547,
                        "y": 5547.6298828125,
                        "z": 365.67681884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4630116820335388,
                        "yaw": 88.2802734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078829765319824,
                "transform": {
                    "location": {
                        "x": 214.0779571533203,
                        "y": 5616.85498046875,
                        "z": 365.15570068359375
                    },
                    "rotation": {
                        "roll": -0.033020008355379105,
                        "pitch": -0.41610193252563477,
                        "yaw": 95.60044860839844
                    }
                },
                "velocity": {
                    "x": -0.8226533532142639,
                    "y": 8.03663444519043,
                    "z": -0.05696706473827362
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.008599281311035,
                "transform": {
                    "location": {
                        "x": 203.43069458007812,
                        "y": 5666.63671875,
                        "z": 364.76556396484375
                    },
                    "rotation": {
                        "roll": 0.008978907950222492,
                        "pitch": -0.4821498692035675,
                        "yaw": 107.97099304199219
                    }
                },
                "velocity": {
                    "x": -2.486253023147583,
                    "y": 7.6125946044921875,
                    "z": -0.06787500530481339
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.90070915222168,
                "transform": {
                    "location": {
                        "x": 207.80804443359375,
                        "y": 5662.5654296875,
                        "z": 364.809326171875
                    },
                    "rotation": {
                        "roll": -0.02761841006577015,
                        "pitch": 0.349309504032135,
                        "yaw": -72.60137176513672
                    }
                },
                "velocity": {
                    "x": 1.9613471031188965,
                    "y": -6.615876197814941,
                    "z": 0.055596187710762024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.769961357116699,
                "transform": {
                    "location": {
                        "x": 211.79014587402344,
                        "y": 5647.9091796875,
                        "z": 364.92681884765625
                    },
                    "rotation": {
                        "roll": -0.021301234140992165,
                        "pitch": 0.4524385333061218,
                        "yaw": -76.17385864257812
                    }
                },
                "velocity": {
                    "x": 1.2911344766616821,
                    "y": -5.623473167419434,
                    "z": 0.04444671422243118
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.29668477177619934,
        "expert_target_speed": 7.296860434761385,
        "target_point": [
            10.149048361818755,
            -0.5190411648026824
        ],
        "target_point_next": [
            30.830094783265334,
            -2.3694922825116693
        ]
    },
    "215": {
        "acceleration": [
            -0.20285606384277344,
            -0.006866455078125,
            -0.009988769888877869
        ],
        "angular_velocity": [
            -0.09123507142066956,
            0.03869875147938728,
            -1.575770378112793
        ],
        "forward_vector": [
            0.1293855905532837,
            -0.991572916507721,
            0.006520939990878105
        ],
        "right_vector": [
            0.9915943145751953,
            0.1293809711933136,
            -0.0011259879684075713
        ],
        "location": [
            216.55874633789062,
            5623.123046875,
            365.10968017578125
        ],
        "rotation": [
            0.06451574712991714,
            0.3736249804496765,
            -82.56575012207031
        ],
        "velocity": [
            0.7983229160308838,
            -6.34476900100708,
            0.047127436846494675
        ],
        "speed": 6.394795786762892,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.54825973510742,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                253.1317901611328,
                5579.99755859375,
                365.666748046875
            ],
            "velocity": [
                -6.754922389984131,
                -0.014873892068862915,
                -0.08251146227121353
            ],
            "speed_kmh": 24.31959366558975,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.0370330810547,
                        "y": 5526.5087890625,
                        "z": 365.8539733886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.310108184814453,
                "transform": {
                    "location": {
                        "x": 172.03749084472656,
                        "y": 5583.548828125,
                        "z": 365.69091796875
                    },
                    "rotation": {
                        "roll": 0.004525669384747744,
                        "pitch": -0.39404043555259705,
                        "yaw": 0.4295874536037445
                    }
                },
                "velocity": {
                    "x": 5.309525012969971,
                    "y": 0.02878386154770851,
                    "z": -0.07326778024435043
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.337585926055908,
                "transform": {
                    "location": {
                        "x": 172.04147338867188,
                        "y": 5586.798828125,
                        "z": 365.7303161621094
                    },
                    "rotation": {
                        "roll": -0.004455565474927425,
                        "pitch": -0.7163296937942505,
                        "yaw": 0.46673113107681274
                    }
                },
                "velocity": {
                    "x": 5.336997032165527,
                    "y": 0.02670011855661869,
                    "z": -0.07465976476669312
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.7554426193237305,
                "transform": {
                    "location": {
                        "x": 253.1317901611328,
                        "y": 5579.99755859375,
                        "z": 365.666748046875
                    },
                    "rotation": {
                        "roll": 0.010617452673614025,
                        "pitch": -0.43936556577682495,
                        "yaw": -179.78369140625
                    }
                },
                "velocity": {
                    "x": -6.754922389984131,
                    "y": -0.014873892068862915,
                    "z": -0.08251146227121353
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.43890380859375,
                        "y": 5549.76123046875,
                        "z": 365.6596374511719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.45440563559532166,
                        "yaw": 88.28025817871094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.030369758605957,
                "transform": {
                    "location": {
                        "x": 213.86874389648438,
                        "y": 5618.85791015625,
                        "z": 365.14117431640625
                    },
                    "rotation": {
                        "roll": -0.01632690615952015,
                        "pitch": -0.41726988554000854,
                        "yaw": 95.83967590332031
                    }
                },
                "velocity": {
                    "x": -0.8450067043304443,
                    "y": 7.985580921173096,
                    "z": -0.057321708649396896
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065223693847656,
                "transform": {
                    "location": {
                        "x": 202.79515075683594,
                        "y": 5668.54248046875,
                        "z": 364.7485046386719
                    },
                    "rotation": {
                        "roll": 0.03584030643105507,
                        "pitch": -0.4851961135864258,
                        "yaw": 108.50753784179688
                    }
                },
                "velocity": {
                    "x": -2.6451046466827393,
                    "y": 7.618827819824219,
                    "z": -0.06868518143892288
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.385654449462891,
                "transform": {
                    "location": {
                        "x": 208.33741760253906,
                        "y": 5660.79248046875,
                        "z": 364.8236999511719
                    },
                    "rotation": {
                        "roll": -0.006896959152072668,
                        "pitch": 0.3937535583972931,
                        "yaw": -73.23670959472656
                    }
                },
                "velocity": {
                    "x": 2.088815927505493,
                    "y": -7.083867073059082,
                    "z": 0.059760186821222305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.885998249053955,
                "transform": {
                    "location": {
                        "x": 212.11328125,
                        "y": 5646.50927734375,
                        "z": 364.938232421875
                    },
                    "rotation": {
                        "roll": -0.0059509132988750935,
                        "pitch": 0.4262515902519226,
                        "yaw": -76.74256896972656
                    }
                },
                "velocity": {
                    "x": 1.3000836372375488,
                    "y": -5.740444660186768,
                    "z": 0.04534890130162239
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2915741801261902,
        "expert_target_speed": 7.215571898994644,
        "target_point": [
            8.543069954882444,
            -0.45234498845422877
        ],
        "target_point_next": [
            29.23570931703973,
            -2.1683072994499115
        ]
    },
    "220": {
        "acceleration": [
            -0.2088451385498047,
            0.7123088836669922,
            -0.018665194511413574
        ],
        "angular_velocity": [
            0.07199212163686752,
            0.012575345113873482,
            -1.3684592247009277
        ],
        "forward_vector": [
            0.12304530292749405,
            -0.992379367351532,
            0.006558847613632679
        ],
        "right_vector": [
            0.9924010038375854,
            0.12304085493087769,
            -0.001078573171980679
        ],
        "location": [
            216.75303649902344,
            5621.55126953125,
            365.12115478515625
        ],
        "rotation": [
            0.06179903447628021,
            0.37579697370529175,
            -82.93196105957031
        ],
        "velocity": [
            0.7477551102638245,
            -6.238076210021973,
            0.044358450919389725
        ],
        "speed": 6.2827328852154585,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.01512908935547,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                251.25413513183594,
                5579.99365234375,
                365.6437072753906
            ],
            "velocity": [
                -7.895484924316406,
                -0.008407880552113056,
                -0.08683302998542786
            ],
            "speed_kmh": 28.42548074237737,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 213.98648071289062,
                        "y": 5529.29248046875,
                        "z": 365.8298645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.48891857266426086,
                        "yaw": 89.43575286865234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.718686103820801,
                "transform": {
                    "location": {
                        "x": 173.5009307861328,
                        "y": 5583.556640625,
                        "z": 365.6702575683594
                    },
                    "rotation": {
                        "roll": -3.0517461709678173e-05,
                        "pitch": -0.28292691707611084,
                        "yaw": 0.36862435936927795
                    }
                },
                "velocity": {
                    "x": 6.717955589294434,
                    "y": 0.034158434718847275,
                    "z": -0.0929848849773407
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.823763370513916,
                "transform": {
                    "location": {
                        "x": 173.42881774902344,
                        "y": 5586.80615234375,
                        "z": 365.7113342285156
                    },
                    "rotation": {
                        "roll": -0.005676269065588713,
                        "pitch": -0.7476187944412231,
                        "yaw": 0.4238586127758026
                    }
                },
                "velocity": {
                    "x": 5.823151588439941,
                    "y": 0.02704004757106304,
                    "z": -0.07992786914110184
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.89596700668335,
                "transform": {
                    "location": {
                        "x": 251.25413513183594,
                        "y": 5579.99365234375,
                        "z": 365.6437072753906
                    },
                    "rotation": {
                        "roll": 0.004131350200623274,
                        "pitch": -0.29625943303108215,
                        "yaw": -179.90066528320312
                    }
                },
                "velocity": {
                    "x": -7.895484924316406,
                    "y": -0.008407880552113056,
                    "z": -0.08683302998542786
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.4996795654297,
                        "y": 5551.78369140625,
                        "z": 365.6434326171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.45440563559532166,
                        "yaw": 88.28025817871094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.081374168395996,
                "transform": {
                    "location": {
                        "x": 213.63522338867188,
                        "y": 5620.85791015625,
                        "z": 365.12652587890625
                    },
                    "rotation": {
                        "roll": -0.04086301103234291,
                        "pitch": -0.4197424352169037,
                        "yaw": 96.60933685302734
                    }
                },
                "velocity": {
                    "x": -0.9715737700462341,
                    "y": 8.022546768188477,
                    "z": -0.0582197830080986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.009552001953125,
                "transform": {
                    "location": {
                        "x": 202.13772583007812,
                        "y": 5670.44091796875,
                        "z": 364.7312316894531
                    },
                    "rotation": {
                        "roll": 0.012993023730814457,
                        "pitch": -0.493986576795578,
                        "yaw": 109.06143951416016
                    }
                },
                "velocity": {
                    "x": -2.64506459236145,
                    "y": 7.559885025024414,
                    "z": -0.06844507157802582
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.076757431030273,
                "transform": {
                    "location": {
                        "x": 208.81585693359375,
                        "y": 5659.1728515625,
                        "z": 364.8359375
                    },
                    "rotation": {
                        "roll": 5.4350482969312e-05,
                        "pitch": 0.5445846319198608,
                        "yaw": -73.48332214355469
                    }
                },
                "velocity": {
                    "x": 1.713495135307312,
                    "y": -5.829974174499512,
                    "z": 0.048124730587005615
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.192692279815674,
                "transform": {
                    "location": {
                        "x": 212.4549102783203,
                        "y": 5645.0087890625,
                        "z": 364.9501037597656
                    },
                    "rotation": {
                        "roll": -0.0005493246135301888,
                        "pitch": 0.4193940758705139,
                        "yaw": -77.08311462402344
                    }
                },
                "velocity": {
                    "x": 1.3614552021026611,
                    "y": -6.040987014770508,
                    "z": 0.04850682243704796
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2886391282081604,
        "expert_target_speed": 7.1083077360982,
        "target_point": [
            27.66523119361635,
            -1.980808930849931
        ],
        "target_point_next": [
            40.07004486867343,
            -13.099790096892606
        ]
    },
    "225": {
        "acceleration": [
            -0.1750469207763672,
            -0.01216888427734375,
            0.004915446043014526
        ],
        "angular_velocity": [
            -0.06690747290849686,
            0.047532886266708374,
            -1.37203049659729
        ],
        "forward_vector": [
            0.11712135374546051,
            -0.993095874786377,
            0.006573033053427935
        ],
        "right_vector": [
            0.9931175708770752,
            0.1171170100569725,
            -0.0010431160917505622
        ],
        "location": [
            216.9352264404297,
            5620.00048828125,
            365.13226318359375
        ],
        "rotation": [
            0.05976744741201401,
            0.37660977244377136,
            -83.27385711669922
        ],
        "velocity": [
            0.7006269097328186,
            -6.168997764587402,
            0.045202311128377914
        ],
        "speed": 6.208656173933786,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.37955093383789,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                249.16741943359375,
                5579.99169921875,
                365.6227722167969
            ],
            "velocity": [
                -8.20254898071289,
                -0.010277447290718555,
                -0.08851783722639084
            ],
            "speed_kmh": 29.53091889113742,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 264.7335205078125,
                        "y": 5580.03857421875,
                        "z": 366.2156066894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9479414224624634,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 213.98468017578125,
                        "y": 5531.80908203125,
                        "z": 365.8083801269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.48891857266426086,
                        "yaw": 89.43575286865234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.114460945129395,
                "transform": {
                    "location": {
                        "x": 175.36343383789062,
                        "y": 5583.56591796875,
                        "z": 365.64410400390625
                    },
                    "rotation": {
                        "roll": -0.000396728515625,
                        "pitch": -0.18892985582351685,
                        "yaw": 0.31521138548851013
                    }
                },
                "velocity": {
                    "x": 8.113595008850098,
                    "y": 0.03897849842905998,
                    "z": -0.11199409514665604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.322088241577148,
                "transform": {
                    "location": {
                        "x": 175.2743682861328,
                        "y": 5586.8154296875,
                        "z": 365.6844177246094
                    },
                    "rotation": {
                        "roll": -0.003784178989008069,
                        "pitch": -0.5863922238349915,
                        "yaw": 0.31643620133399963
                    }
                },
                "velocity": {
                    "x": 8.321203231811523,
                    "y": 0.0389278270304203,
                    "z": -0.11493904143571854
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.203032493591309,
                "transform": {
                    "location": {
                        "x": 249.16741943359375,
                        "y": 5579.99169921875,
                        "z": 365.6227722167969
                    },
                    "rotation": {
                        "roll": -0.005859374534338713,
                        "pitch": -0.4876413345336914,
                        "yaw": -179.7866973876953
                    }
                },
                "velocity": {
                    "x": -8.20254898071289,
                    "y": -0.010277447290718555,
                    "z": -0.08851783722639084
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.052209854125977,
                "transform": {
                    "location": {
                        "x": 214.54725646972656,
                        "y": 5553.375,
                        "z": 365.6297912597656
                    },
                    "rotation": {
                        "roll": 0.00016094559396151453,
                        "pitch": -0.6150516867637634,
                        "yaw": 88.28135681152344
                    }
                },
                "velocity": {
                    "x": 0.18086592853069305,
                    "y": 6.0492987632751465,
                    "z": -0.05015462636947632
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02463436126709,
                "transform": {
                    "location": {
                        "x": 213.3876495361328,
                        "y": 5622.85546875,
                        "z": 365.11187744140625
                    },
                    "rotation": {
                        "roll": -0.022491462528705597,
                        "pitch": -0.4229116439819336,
                        "yaw": 96.95770263671875
                    }
                },
                "velocity": {
                    "x": -1.0016281604766846,
                    "y": 7.961661338806152,
                    "z": -0.058718498796224594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0653657913208,
                "transform": {
                    "location": {
                        "x": 201.47210693359375,
                        "y": 5672.33740234375,
                        "z": 364.7138671875
                    },
                    "rotation": {
                        "roll": 0.025732403621077538,
                        "pitch": -0.49817347526550293,
                        "yaw": 109.36262512207031
                    }
                },
                "velocity": {
                    "x": -2.769639015197754,
                    "y": 7.574589729309082,
                    "z": -0.0694613829255104
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.64554500579834,
                "transform": {
                    "location": {
                        "x": 209.16046142578125,
                        "y": 5657.99853515625,
                        "z": 364.8436584472656
                    },
                    "rotation": {
                        "roll": 0.001657102140597999,
                        "pitch": 0.74746173620224,
                        "yaw": -73.59275817871094
                    }
                },
                "velocity": {
                    "x": 0.7291184067726135,
                    "y": -2.5430166721343994,
                    "z": 0.018997544422745705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.858964920043945,
                "transform": {
                    "location": {
                        "x": 212.7860870361328,
                        "y": 5643.54345703125,
                        "z": 364.96148681640625
                    },
                    "rotation": {
                        "roll": 0.003071002895012498,
                        "pitch": 0.46064841747283936,
                        "yaw": -77.21963500976562
                    }
                },
                "velocity": {
                    "x": 1.286183476448059,
                    "y": -5.715868949890137,
                    "z": 0.045204151421785355
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.28834033012390137,
        "expert_target_speed": 7.030606078471415,
        "target_point": [
            26.115111813791348,
            -1.8149956885002665
        ],
        "target_point_next": [
            38.5860525207411,
            -12.859758355368145
        ]
    },
    "230": {
        "acceleration": [
            -0.31626343727111816,
            0.7202243804931641,
            -0.015541836619377136
        ],
        "angular_velocity": [
            0.07525566220283508,
            0.07126856595277786,
            -1.853773832321167
        ],
        "forward_vector": [
            0.11045411974191666,
            -0.9938597679138184,
            0.0065369135700166225
        ],
        "right_vector": [
            0.993881106376648,
            0.11044830083847046,
            -0.0012455913238227367
        ],
        "location": [
            217.10414123535156,
            5618.47314453125,
            365.1432800292969
        ],
        "rotation": [
            0.07136866450309753,
            0.374540239572525,
            -83.65837097167969
        ],
        "velocity": [
            0.6376487016677856,
            -6.060749530792236,
            0.0441412627696991
        ],
        "speed": 6.094200582663564,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.87684631347656,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                247.2344512939453,
                5579.99072265625,
                365.60546875
            ],
            "velocity": [
                -7.371534824371338,
                0.002216056687757373,
                -0.07364550232887268
            ],
            "speed_kmh": 26.538850896796664,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 215.1795196533203,
                        "y": 5508.5390625,
                        "z": 366.0882263183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5127900838851929,
                        "yaw": 96.25312042236328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8550825119018555,
                "transform": {
                    "location": {
                        "x": 264.7348327636719,
                        "y": 5580.03857421875,
                        "z": 365.8522644042969
                    },
                    "rotation": {
                        "roll": -6.1035087128402665e-05,
                        "pitch": -0.9392397403717041,
                        "yaw": 179.86224365234375
                    }
                },
                "velocity": {
                    "x": 0.013980744406580925,
                    "y": -4.098023964616004e-06,
                    "z": -0.854968249797821
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.00616455078125,
                        "y": 5534.17822265625,
                        "z": 365.78826904296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4802852272987366,
                        "yaw": 88.2802734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.264639854431152,
                "transform": {
                    "location": {
                        "x": 177.45187377929688,
                        "y": 5583.57373046875,
                        "z": 365.6163330078125
                    },
                    "rotation": {
                        "roll": 0.02077234722673893,
                        "pitch": -0.4840349853038788,
                        "yaw": 0.16920146346092224
                    }
                },
                "velocity": {
                    "x": 8.263838768005371,
                    "y": 0.014451360329985619,
                    "z": -0.11418689787387848
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.131876945495605,
                "transform": {
                    "location": {
                        "x": 177.3601531982422,
                        "y": 5586.82373046875,
                        "z": 365.656982421875
                    },
                    "rotation": {
                        "roll": 0.003603969234973192,
                        "pitch": -0.7540255188941956,
                        "yaw": 0.18843767046928406
                    }
                },
                "velocity": {
                    "x": 8.131085395812988,
                    "y": 0.011870628222823143,
                    "z": -0.11287614703178406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.371902942657471,
                "transform": {
                    "location": {
                        "x": 247.2344512939453,
                        "y": 5579.99072265625,
                        "z": 365.60546875
                    },
                    "rotation": {
                        "roll": 0.0028224701527506113,
                        "pitch": -0.8062081933021545,
                        "yaw": -179.92137145996094
                    }
                },
                "velocity": {
                    "x": -7.371534824371338,
                    "y": 0.002216056687757373,
                    "z": -0.07364550232887268
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.2898850440979,
                "transform": {
                    "location": {
                        "x": 214.59320068359375,
                        "y": 5554.91943359375,
                        "z": 365.61737060546875
                    },
                    "rotation": {
                        "roll": -9.154387953458354e-05,
                        "pitch": -0.4893488883972168,
                        "yaw": 88.28213500976562
                    }
                },
                "velocity": {
                    "x": 0.18858619034290314,
                    "y": 6.286856651306152,
                    "z": -0.050216786563396454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08452320098877,
                "transform": {
                    "location": {
                        "x": 213.1238250732422,
                        "y": 5624.8525390625,
                        "z": 365.09698486328125
                    },
                    "rotation": {
                        "roll": -0.0450134314596653,
                        "pitch": -0.427214652299881,
                        "yaw": 97.53199768066406
                    }
                },
                "velocity": {
                    "x": -1.1130837202072144,
                    "y": 8.007299423217773,
                    "z": -0.060939595103263855
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.008660316467285,
                "transform": {
                    "location": {
                        "x": 200.77944946289062,
                        "y": 5674.22314453125,
                        "z": 364.69622802734375
                    },
                    "rotation": {
                        "roll": 0.018369778990745544,
                        "pitch": -0.502927303314209,
                        "yaw": 110.10795593261719
                    }
                },
                "velocity": {
                    "x": -2.7976181507110596,
                    "y": 7.503788471221924,
                    "z": -0.07167666405439377
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.535937786102295,
                "transform": {
                    "location": {
                        "x": 209.24920654296875,
                        "y": 5657.68310546875,
                        "z": 364.84716796875
                    },
                    "rotation": {
                        "roll": 0.0017705661011859775,
                        "pitch": 0.628848671913147,
                        "yaw": -73.69625854492188
                    }
                },
                "velocity": {
                    "x": 0.4015164077281952,
                    "y": -1.4824788570404053,
                    "z": 0.01207221020013094
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.130617141723633,
                "transform": {
                    "location": {
                        "x": 213.09671020507812,
                        "y": 5642.07373046875,
                        "z": 364.9733581542969
                    },
                    "rotation": {
                        "roll": -0.01266479305922985,
                        "pitch": 0.4294686019420624,
                        "yaw": -77.85116577148438
                    }
                },
                "velocity": {
                    "x": 1.2270349264144897,
                    "y": -6.006394386291504,
                    "z": 0.04555733501911163
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.29259639978408813,
        "expert_target_speed": 6.916846309159318,
        "target_point": [
            24.590048567362313,
            -1.638872629465534
        ],
        "target_point_next": [
            37.13482993034357,
            -12.599693996438578
        ]
    },
    "235": {
        "acceleration": [
            -0.28262972831726074,
            0.08645057678222656,
            -0.003822147846221924
        ],
        "angular_velocity": [
            -0.03970523551106453,
            0.029232054948806763,
            -2.206587076187134
        ],
        "forward_vector": [
            0.10126012563705444,
            -0.994839072227478,
            0.006447389256209135
        ],
        "right_vector": [
            0.9948596358299255,
            0.10125267505645752,
            -0.0014727924717590213
        ],
        "location": [
            217.255615234375,
            5616.9677734375,
            365.1540222167969
        ],
        "rotation": [
            0.08438657969236374,
            0.36941075325012207,
            -84.18814086914062
        ],
        "velocity": [
            0.5650265216827393,
            -5.975264072418213,
            0.04394352808594704
        ],
        "speed": 6.001919335124122,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.503326416015625,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                245.45257568359375,
                5579.99072265625,
                365.5882873535156
            ],
            "velocity": [
                -6.93488883972168,
                0.00557699054479599,
                -0.06007220968604088
            ],
            "speed_kmh": 24.96654453429135,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.8907012939453,
                        "y": 5511.5302734375,
                        "z": 366.0122985839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.12985633313655853,
                "transform": {
                    "location": {
                        "x": 264.7352294921875,
                        "y": 5580.03857421875,
                        "z": 365.8421325683594
                    },
                    "rotation": {
                        "roll": 0.0006231085862964392,
                        "pitch": -0.9356948733329773,
                        "yaw": 179.86219787597656
                    }
                },
                "velocity": {
                    "x": -0.002146609127521515,
                    "y": 6.440435390686616e-05,
                    "z": 0.12983857095241547
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.0508575439453,
                        "y": 5536.27783203125,
                        "z": 365.7706604003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4802852272987366,
                        "yaw": 88.2802734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.803035259246826,
                "transform": {
                    "location": {
                        "x": 179.4421844482422,
                        "y": 5583.57666015625,
                        "z": 365.59014892578125
                    },
                    "rotation": {
                        "roll": 0.015528744086623192,
                        "pitch": -0.8365136981010437,
                        "yaw": 0.08000998198986053
                    }
                },
                "velocity": {
                    "x": 7.802314758300781,
                    "y": 0.006694281008094549,
                    "z": -0.10581973195075989
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.8309807777404785,
                "transform": {
                    "location": {
                        "x": 179.3348388671875,
                        "y": 5586.826171875,
                        "z": 365.63018798828125
                    },
                    "rotation": {
                        "roll": 0.0009111818508245051,
                        "pitch": -0.8162826895713806,
                        "yaw": 0.0684058666229248
                    }
                },
                "velocity": {
                    "x": 7.830263614654541,
                    "y": 0.004468003287911415,
                    "z": -0.10590367019176483
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.935151100158691,
                "transform": {
                    "location": {
                        "x": 245.45257568359375,
                        "y": 5579.99072265625,
                        "z": 365.5882873535156
                    },
                    "rotation": {
                        "roll": 0.003187750931829214,
                        "pitch": -0.6832579374313354,
                        "yaw": -179.9998016357422
                    }
                },
                "velocity": {
                    "x": -6.93488883972168,
                    "y": 0.00557699054479599,
                    "z": -0.06007220968604088
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.421517372131348,
                "transform": {
                    "location": {
                        "x": 214.63734436035156,
                        "y": 5556.39599609375,
                        "z": 365.60552978515625
                    },
                    "rotation": {
                        "roll": -0.0005798201891593635,
                        "pitch": -0.5620698928833008,
                        "yaw": 88.27664947509766
                    }
                },
                "velocity": {
                    "x": 0.16279473900794983,
                    "y": 5.4189019203186035,
                    "z": -0.042991891503334045
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.022632598876953,
                "transform": {
                    "location": {
                        "x": 212.83905029296875,
                        "y": 5626.8447265625,
                        "z": 365.08203125
                    },
                    "rotation": {
                        "roll": -0.0292968712747097,
                        "pitch": -0.4313332438468933,
                        "yaw": 98.0387191772461
                    }
                },
                "velocity": {
                    "x": -1.1542357206344604,
                    "y": 7.938937187194824,
                    "z": -0.06054459512233734
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.068574905395508,
                "transform": {
                    "location": {
                        "x": 200.078125,
                        "y": 5676.10595703125,
                        "z": 364.6783447265625
                    },
                    "rotation": {
                        "roll": 0.00886473711580038,
                        "pitch": -0.5111986398696899,
                        "yaw": 110.40837097167969
                    }
                },
                "velocity": {
                    "x": -2.828852415084839,
                    "y": 7.556077003479004,
                    "z": -0.07209082692861557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4047489166259766,
                "transform": {
                    "location": {
                        "x": 209.38108825683594,
                        "y": 5657.203125,
                        "z": 364.85302734375
                    },
                    "rotation": {
                        "roll": -0.001220723264850676,
                        "pitch": 0.38190317153930664,
                        "yaw": -73.9284439086914
                    }
                },
                "velocity": {
                    "x": 0.6290867328643799,
                    "y": -2.3209376335144043,
                    "z": 0.01774965226650238
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.926451206207275,
                "transform": {
                    "location": {
                        "x": 213.40147399902344,
                        "y": 5640.591796875,
                        "z": 364.9847106933594
                    },
                    "rotation": {
                        "roll": -0.0001831133122323081,
                        "pitch": 0.44693341851234436,
                        "yaw": -78.22714233398438
                    }
                },
                "velocity": {
                    "x": 1.1811267137527466,
                    "y": -5.807384490966797,
                    "z": 0.045200757682323456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.27679815888404846,
        "expert_target_speed": 6.845726440452322,
        "target_point": [
            23.091178367551464,
            -1.4097074846710647
        ],
        "target_point_next": [
            35.736764363912286,
            -12.254074653498291
        ]
    },
    "240": {
        "acceleration": [
            -0.251239538192749,
            1.4688491821289062,
            -0.024075284600257874
        ],
        "angular_velocity": [
            0.2721608281135559,
            -0.08282355219125748,
            -1.6675323247909546
        ],
        "forward_vector": [
            0.09307893365621567,
            -0.9956406950950623,
            0.0059882039204239845
        ],
        "right_vector": [
            0.9956585168838501,
            0.09307333081960678,
            -0.001208147150464356
        ],
        "location": [
            217.39132690429688,
            5615.4990234375,
            365.1646423339844
        ],
        "rotation": [
            0.06922299414873123,
            0.3431008756160736,
            -84.65914154052734
        ],
        "velocity": [
            0.5056423544883728,
            -5.759853363037109,
            0.04044554755091667
        ],
        "speed": 5.7820052710407,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.22056198120117,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                243.7457733154297,
                5579.9921875,
                365.5719909667969
            ],
            "velocity": [
                -6.745108604431152,
                0.011512954719364643,
                -0.05920550227165222
            ],
            "speed_kmh": 24.28336175060097,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.62147521972656,
                        "y": 5514.69189453125,
                        "z": 365.96197509765625
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2403746843338013,
                "transform": {
                    "location": {
                        "x": 264.6119384765625,
                        "y": 5580.03759765625,
                        "z": 365.8580322265625
                    },
                    "rotation": {
                        "roll": -0.006622314918786287,
                        "pitch": -0.8347173929214478,
                        "yaw": 179.9412384033203
                    }
                },
                "velocity": {
                    "x": -1.2401381731033325,
                    "y": -0.01996811293065548,
                    "z": 0.01370715070515871
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.1103057861328,
                        "y": 5538.6953125,
                        "z": 365.75042724609375
                    },
                    "rotation": {
                        "roll": 5.336265829214426e-08,
                        "pitch": -0.4716450273990631,
                        "yaw": 88.28025817871094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029540061950684,
                "transform": {
                    "location": {
                        "x": 181.4235076904297,
                        "y": 5583.578125,
                        "z": 365.5640869140625
                    },
                    "rotation": {
                        "roll": 0.013800326734781265,
                        "pitch": -0.6959825754165649,
                        "yaw": 0.008516318164765835
                    }
                },
                "velocity": {
                    "x": 8.028900146484375,
                    "y": -0.003188488306477666,
                    "z": -0.10134772211313248
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0801420211792,
                "transform": {
                    "location": {
                        "x": 181.33335876464844,
                        "y": 5586.8271484375,
                        "z": 365.6039123535156
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": -0.7043085694313049,
                        "yaw": 0.032748933881521225
                    }
                },
                "velocity": {
                    "x": 8.079517364501953,
                    "y": 0.004532279446721077,
                    "z": -0.10034724324941635
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.745378494262695,
                "transform": {
                    "location": {
                        "x": 243.7457733154297,
                        "y": 5579.9921875,
                        "z": 365.5719909667969
                    },
                    "rotation": {
                        "roll": 0.003445371752604842,
                        "pitch": -0.5040816068649292,
                        "yaw": 179.91421508789062
                    }
                },
                "velocity": {
                    "x": -6.745108604431152,
                    "y": 0.011512954719364643,
                    "z": -0.05920550227165222
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.475372314453125,
                "transform": {
                    "location": {
                        "x": 214.677490234375,
                        "y": 5557.73046875,
                        "z": 365.5950622558594
                    },
                    "rotation": {
                        "roll": -0.00024413435312453657,
                        "pitch": -0.4774097204208374,
                        "yaw": 88.2724609375
                    }
                },
                "velocity": {
                    "x": 0.16527673602104187,
                    "y": 5.472711563110352,
                    "z": -0.04256332665681839
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.086955070495605,
                "transform": {
                    "location": {
                        "x": 212.54547119140625,
                        "y": 5628.83740234375,
                        "z": 365.06689453125
                    },
                    "rotation": {
                        "roll": -0.012786861509084702,
                        "pitch": -0.43035653233528137,
                        "yaw": 98.2685775756836
                    }
                },
                "velocity": {
                    "x": -1.1889748573303223,
                    "y": 7.998844623565674,
                    "z": -0.060581449419260025
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0077486038208,
                "transform": {
                    "location": {
                        "x": 199.3571014404297,
                        "y": 5677.98095703125,
                        "z": 364.6603088378906
                    },
                    "rotation": {
                        "roll": 0.028978046029806137,
                        "pitch": -0.5144907832145691,
                        "yaw": 111.06869506835938
                    }
                },
                "velocity": {
                    "x": -2.945103406906128,
                    "y": 7.446153163909912,
                    "z": -0.0720626562833786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3734240531921387,
                "transform": {
                    "location": {
                        "x": 209.5723419189453,
                        "y": 5656.50537109375,
                        "z": 364.85888671875
                    },
                    "rotation": {
                        "roll": -0.0015258818166330457,
                        "pitch": 0.34926170110702515,
                        "yaw": -74.199951171875
                    }
                },
                "velocity": {
                    "x": 0.8818739056587219,
                    "y": -3.2560079097747803,
                    "z": 0.026499642059206963
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.007457733154297,
                "transform": {
                    "location": {
                        "x": 213.70046997070312,
                        "y": 5639.126953125,
                        "z": 364.9963073730469
                    },
                    "rotation": {
                        "roll": 0.0033134594559669495,
                        "pitch": 0.4397616982460022,
                        "yaw": -78.40320587158203
                    }
                },
                "velocity": {
                    "x": 1.1932674646377563,
                    "y": -5.887578010559082,
                    "z": 0.045631714165210724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2637493312358856,
        "expert_target_speed": 6.635478633493846,
        "target_point": [
            21.62698110914027,
            -1.2182468051041657
        ],
        "target_point_next": [
            34.36128704507906,
            -11.958293211596501
        ]
    },
    "245": {
        "acceleration": [
            -0.16450822353363037,
            0.6308460235595703,
            -0.009625256061553955
        ],
        "angular_velocity": [
            -0.008680730126798153,
            -0.05851343274116516,
            -1.3158973455429077
        ],
        "forward_vector": [
            0.08649841696023941,
            -0.9962376356124878,
            0.005351636558771133
        ],
        "right_vector": [
            0.9962518811225891,
            0.08649463951587677,
            -0.0009335449431091547
        ],
        "location": [
            217.5116424560547,
            5614.09228515625,
            365.1745910644531
        ],
        "rotation": [
            0.05348895490169525,
            0.30662766098976135,
            -85.03773498535156
        ],
        "velocity": [
            0.4520547389984131,
            -5.509385108947754,
            0.03972793370485306
        ],
        "speed": 5.527899941727073,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.025943756103516,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                242.076171875,
                5579.9951171875,
                365.55792236328125
            ],
            "velocity": [
                -6.599149703979492,
                0.011789288371801376,
                -0.05339919030666351
            ],
            "speed_kmh": 23.757754605641153,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.4278106689453,
                        "y": 5517.34033203125,
                        "z": 365.9355773925781
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1349189281463623,
                "transform": {
                    "location": {
                        "x": 264.1910095214844,
                        "y": 5580.0341796875,
                        "z": 365.85491943359375
                    },
                    "rotation": {
                        "roll": -0.0025634763296693563,
                        "pitch": -0.8306875824928284,
                        "yaw": -179.931640625
                    }
                },
                "velocity": {
                    "x": -2.1346523761749268,
                    "y": -0.015203672461211681,
                    "z": -0.030109262093901634
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.16319274902344,
                        "y": 5540.5048828125,
                        "z": 365.73529052734375
                    },
                    "rotation": {
                        "roll": 5.336265829214426e-08,
                        "pitch": -0.4716450273990631,
                        "yaw": 88.28025817871094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.575723171234131,
                "transform": {
                    "location": {
                        "x": 183.38336181640625,
                        "y": 5583.57666015625,
                        "z": 365.5402526855469
                    },
                    "rotation": {
                        "roll": 0.008954713121056557,
                        "pitch": -0.7830470204353333,
                        "yaw": -0.02362060360610485
                    }
                },
                "velocity": {
                    "x": 7.575178623199463,
                    "y": -0.005435552913695574,
                    "z": -0.09064096212387085
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.582762718200684,
                "transform": {
                    "location": {
                        "x": 183.2976531982422,
                        "y": 5586.82666015625,
                        "z": 365.580078125
                    },
                    "rotation": {
                        "roll": 0.0012495683040469885,
                        "pitch": -0.7213089466094971,
                        "yaw": -0.03021240048110485
                    }
                },
                "velocity": {
                    "x": 7.582215309143066,
                    "y": -0.008644526824355125,
                    "z": -0.09069778025150299
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.599376201629639,
                "transform": {
                    "location": {
                        "x": 242.076171875,
                        "y": 5579.9951171875,
                        "z": 365.55792236328125
                    },
                    "rotation": {
                        "roll": 0.0014290898106992245,
                        "pitch": -0.48458823561668396,
                        "yaw": 179.91134643554688
                    }
                },
                "velocity": {
                    "x": -6.599149703979492,
                    "y": 0.011789288371801376,
                    "z": -0.05339919030666351
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.8029022216796875,
                "transform": {
                    "location": {
                        "x": 214.72140502929688,
                        "y": 5559.18798828125,
                        "z": 365.5838928222656
                    },
                    "rotation": {
                        "roll": -0.0014648534124717116,
                        "pitch": -0.28436124324798584,
                        "yaw": 88.26468658447266
                    }
                },
                "velocity": {
                    "x": 0.20538166165351868,
                    "y": 6.799598217010498,
                    "z": -0.0525592602789402
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.021149635314941,
                "transform": {
                    "location": {
                        "x": 212.228271484375,
                        "y": 5630.82470703125,
                        "z": 365.05181884765625
                    },
                    "rotation": {
                        "roll": -0.04046628624200821,
                        "pitch": -0.4368247389793396,
                        "yaw": 99.00477600097656
                    }
                },
                "velocity": {
                    "x": -1.2976291179656982,
                    "y": 7.915264129638672,
                    "z": -0.059935420751571655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.069024085998535,
                "transform": {
                    "location": {
                        "x": 198.6188201904297,
                        "y": 5679.8505859375,
                        "z": 364.6420593261719
                    },
                    "rotation": {
                        "roll": 0.010361348278820515,
                        "pitch": -0.5229807496070862,
                        "yaw": 111.51663208007812
                    }
                },
                "velocity": {
                    "x": -2.9824960231781006,
                    "y": 7.497230529785156,
                    "z": -0.07351397722959518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.484199523925781,
                "transform": {
                    "location": {
                        "x": 209.83248901367188,
                        "y": 5655.5537109375,
                        "z": 364.86676025390625
                    },
                    "rotation": {
                        "roll": 0.000272438395768404,
                        "pitch": 0.3320906162261963,
                        "yaw": -74.44808197021484
                    }
                },
                "velocity": {
                    "x": 1.1720904111862183,
                    "y": -4.328175067901611,
                    "z": 0.03392365202307701
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.831475734710693,
                "transform": {
                    "location": {
                        "x": 213.98553466796875,
                        "y": 5637.6748046875,
                        "z": 365.0075378417969
                    },
                    "rotation": {
                        "roll": -0.020233159884810448,
                        "pitch": 0.444194495677948,
                        "yaw": -78.82069396972656
                    }
                },
                "velocity": {
                    "x": 1.0532114505767822,
                    "y": -5.735400676727295,
                    "z": 0.045111894607543945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.25440892577171326,
        "expert_target_speed": 10.0,
        "target_point": [
            20.22268650623759,
            -1.0734858967126482
        ],
        "target_point_next": [
            33.027687799483175,
            -11.729145724413305
        ]
    },
    "250": {
        "acceleration": [
            -0.1789647340774536,
            1.4499664306640625,
            -0.0068674236536026
        ],
        "angular_velocity": [
            0.09921245276927948,
            -0.0618533231317997,
            -0.944920003414154
        ],
        "forward_vector": [
            0.0819268748164177,
            -0.9966251850128174,
            0.005125738214701414
        ],
        "right_vector": [
            0.996638298034668,
            0.0819244384765625,
            -0.0006818244000896811
        ],
        "location": [
            217.62030029296875,
            5612.7529296875,
            365.18414306640625
        ],
        "rotation": [
            0.03906617686152458,
            0.2936844527721405,
            -85.30060577392578
        ],
        "velocity": [
            0.4099765419960022,
            -5.224390983581543,
            0.03675331920385361
        ],
        "speed": 5.240452453206223,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 39.931922912597656,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                240.45765686035156,
                5579.998046875,
                365.5462951660156
            ],
            "velocity": [
                -6.349199295043945,
                0.01424794364720583,
                -0.042435526847839355
            ],
            "speed_kmh": 22.857685526747133,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 168.49124145507812,
                        "y": 5583.5205078125,
                        "z": 365.9401550292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7924794554710388,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": -1.0533436345383507e-08,
                    "y": 2.5308775908339243e-11,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 168.49905395507812,
                        "y": 5586.7705078125,
                        "z": 365.9401550292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7924794554710388,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": -1.2538242444293246e-08,
                    "y": 3.0125745648090785e-11,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.2606201171875,
                        "y": 5520.27294921875,
                        "z": 365.90875244140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.38287091255188,
                "transform": {
                    "location": {
                        "x": 263.5057678222656,
                        "y": 5580.0302734375,
                        "z": 365.84405517578125
                    },
                    "rotation": {
                        "roll": -0.007049559615552425,
                        "pitch": -0.8072736859321594,
                        "yaw": -179.8240966796875
                    }
                },
                "velocity": {
                    "x": -3.3823556900024414,
                    "y": -0.024320527911186218,
                    "z": -0.05380351096391678
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.2137451171875,
                        "y": 5542.23681640625,
                        "z": 365.7209167480469
                    },
                    "rotation": {
                        "roll": 5.336265829214426e-08,
                        "pitch": -0.4716450273990631,
                        "yaw": 88.28025817871094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.2205939292907715,
                "transform": {
                    "location": {
                        "x": 185.21913146972656,
                        "y": 5583.57470703125,
                        "z": 365.52044677734375
                    },
                    "rotation": {
                        "roll": 0.005259410943835974,
                        "pitch": -0.7680683732032776,
                        "yaw": -0.0744934007525444
                    }
                },
                "velocity": {
                    "x": 7.220245838165283,
                    "y": -0.00926255714148283,
                    "z": -0.07028340548276901
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.205404758453369,
                "transform": {
                    "location": {
                        "x": 185.13140869140625,
                        "y": 5586.82470703125,
                        "z": 365.56005859375
                    },
                    "rotation": {
                        "roll": 0.0006477957940660417,
                        "pitch": -0.6488611102104187,
                        "yaw": -0.0611572228372097
                    }
                },
                "velocity": {
                    "x": 7.205078125,
                    "y": -0.009172827936708927,
                    "z": -0.06795383244752884
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.3493571281433105,
                "transform": {
                    "location": {
                        "x": 240.45765686035156,
                        "y": 5579.998046875,
                        "z": 365.5462951660156
                    },
                    "rotation": {
                        "roll": 0.000789216544944793,
                        "pitch": -0.4858381450176239,
                        "yaw": 179.8675994873047
                    }
                },
                "velocity": {
                    "x": -6.349199295043945,
                    "y": 0.01424794364720583,
                    "z": -0.042435526847839355
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.567149639129639,
                "transform": {
                    "location": {
                        "x": 214.7734375,
                        "y": 5560.9140625,
                        "z": 365.5701599121094
                    },
                    "rotation": {
                        "roll": -0.0008545047603547573,
                        "pitch": -0.43050679564476013,
                        "yaw": 88.26842498779297
                    }
                },
                "velocity": {
                    "x": 0.19825011491775513,
                    "y": 6.5639495849609375,
                    "z": -0.05211915075778961
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.088133811950684,
                "transform": {
                    "location": {
                        "x": 211.89608764648438,
                        "y": 5632.8115234375,
                        "z": 365.03656005859375
                    },
                    "rotation": {
                        "roll": -0.02349853329360485,
                        "pitch": -0.4361485242843628,
                        "yaw": 99.40079498291016
                    }
                },
                "velocity": {
                    "x": -1.3498743772506714,
                    "y": 7.974460124969482,
                    "z": -0.06114619970321655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 197.8718719482422,
                        "y": 5681.74755859375,
                        "z": 364.6229553222656
                    },
                    "rotation": {
                        "roll": -2.6681604481382237e-08,
                        "pitch": -0.5385125875473022,
                        "yaw": 113.23918914794922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.307809829711914,
                "transform": {
                    "location": {
                        "x": 210.16053771972656,
                        "y": 5654.34814453125,
                        "z": 364.87652587890625
                    },
                    "rotation": {
                        "roll": 0.002742612501606345,
                        "pitch": 0.351085364818573,
                        "yaw": -74.63684844970703
                    }
                },
                "velocity": {
                    "x": 1.3866490125656128,
                    "y": -5.12330961227417,
                    "z": 0.04182538762688637
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.733647346496582,
                "transform": {
                    "location": {
                        "x": 214.24655151367188,
                        "y": 5636.263671875,
                        "z": 365.0184020996094
                    },
                    "rotation": {
                        "roll": -0.0038146842271089554,
                        "pitch": 0.4491054117679596,
                        "yaw": -79.31149291992188
                    }
                },
                "velocity": {
                    "x": 1.0221973657608032,
                    "y": -5.641618728637695,
                    "z": 0.04431961104273796
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.26047128438949585,
        "expert_target_speed": 10.0,
        "target_point": [
            18.88364220684429,
            -0.9792865896339128
        ],
        "target_point_next": [
            31.73737959748415,
            -11.576105903756508
        ]
    },
    "255": {
        "acceleration": [
            -0.14631390571594238,
            0.5210590362548828,
            -0.006366744637489319
        ],
        "angular_velocity": [
            -0.12293083220720291,
            -0.035976361483335495,
            -0.9529858231544495
        ],
        "forward_vector": [
            0.07780129462480545,
            -0.9969553351402283,
            0.005196786019951105
        ],
        "right_vector": [
            0.9969688653945923,
            0.07779914140701294,
            -0.0006148444372229278
        ],
        "location": [
            217.7184295654297,
            5611.47607421875,
            365.1930236816406
        ],
        "rotation": [
            0.03522847220301628,
            0.29775524139404297,
            -85.5377426147461
        ],
        "velocity": [
            0.3701365292072296,
            -4.999663829803467,
            0.03639260306954384
        ],
        "speed": 5.013346134200056,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.94236373901367,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                238.90390014648438,
                5580.0009765625,
                365.5353088378906
            ],
            "velocity": [
                -6.092638969421387,
                0.01306455209851265,
                -0.041185412555933
            ],
            "speed_kmh": 21.93405184320571,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.11028463393449783,
                "transform": {
                    "location": {
                        "x": 168.48983764648438,
                        "y": 5583.5205078125,
                        "z": 365.70416259765625
                    },
                    "rotation": {
                        "roll": 0.00014078816457185894,
                        "pitch": -0.8051153421401978,
                        "yaw": -0.13763427734375
                    }
                },
                "velocity": {
                    "x": 0.001586991362273693,
                    "y": -0.0001853436406236142,
                    "z": 0.11027306318283081
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.12584175169467926,
                "transform": {
                    "location": {
                        "x": 168.49717712402344,
                        "y": 5586.7705078125,
                        "z": 365.67291259765625
                    },
                    "rotation": {
                        "roll": 0.0007437037420459092,
                        "pitch": -0.7964819669723511,
                        "yaw": -0.1376648098230362
                    }
                },
                "velocity": {
                    "x": 0.001780123682692647,
                    "y": -1.8821341427610605e-06,
                    "z": 0.12582916021347046
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.13983154296875,
                        "y": 5522.77734375,
                        "z": 365.8865966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.756508827209473,
                "transform": {
                    "location": {
                        "x": 262.476318359375,
                        "y": 5580.0234375,
                        "z": 365.82745361328125
                    },
                    "rotation": {
                        "roll": -0.00866699032485485,
                        "pitch": -0.7809706330299377,
                        "yaw": -179.7176055908203
                    }
                },
                "velocity": {
                    "x": -4.755824565887451,
                    "y": -0.03516283258795738,
                    "z": -0.07260552048683167
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.104417324066162,
                "transform": {
                    "location": {
                        "x": 214.2587432861328,
                        "y": 5543.77490234375,
                        "z": 365.70245361328125
                    },
                    "rotation": {
                        "roll": -0.00033568224171176553,
                        "pitch": -0.5559978485107422,
                        "yaw": 88.2767105102539
                    }
                },
                "velocity": {
                    "x": 0.15281301736831665,
                    "y": 5.101641654968262,
                    "z": -0.07055960595607758
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.145153999328613,
                "transform": {
                    "location": {
                        "x": 187.02008056640625,
                        "y": 5583.572265625,
                        "z": 365.50238037109375
                    },
                    "rotation": {
                        "roll": 0.003811950795352459,
                        "pitch": -0.5580195784568787,
                        "yaw": -0.0599365159869194
                    }
                },
                "velocity": {
                    "x": 7.144856929779053,
                    "y": -0.011199024505913258,
                    "z": -0.06418774276971817
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.198392868041992,
                "transform": {
                    "location": {
                        "x": 186.9383544921875,
                        "y": 5586.8232421875,
                        "z": 365.5416564941406
                    },
                    "rotation": {
                        "roll": 0.002394632436335087,
                        "pitch": -0.4855649471282959,
                        "yaw": -0.0760497897863388
                    }
                },
                "velocity": {
                    "x": 7.1980881690979,
                    "y": -0.013279750011861324,
                    "z": -0.0648847296833992
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.092792510986328,
                "transform": {
                    "location": {
                        "x": 238.90390014648438,
                        "y": 5580.0009765625,
                        "z": 365.5353088378906
                    },
                    "rotation": {
                        "roll": 3.652983650681563e-05,
                        "pitch": -0.42940714955329895,
                        "yaw": 179.88906860351562
                    }
                },
                "velocity": {
                    "x": -6.092638969421387,
                    "y": 0.01306455209851265,
                    "z": -0.041185412555933
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.08271598815918,
                "transform": {
                    "location": {
                        "x": 214.8181915283203,
                        "y": 5562.40234375,
                        "z": 365.5581970214844
                    },
                    "rotation": {
                        "roll": 0.0004751804517582059,
                        "pitch": -0.630282998085022,
                        "yaw": 88.3052749633789
                    }
                },
                "velocity": {
                    "x": 0.15338481962680817,
                    "y": 5.0802435874938965,
                    "z": -0.03999048098921776
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019375801086426,
                "transform": {
                    "location": {
                        "x": 211.54843139648438,
                        "y": 5634.79443359375,
                        "z": 365.021240234375
                    },
                    "rotation": {
                        "roll": -0.044250477105379105,
                        "pitch": -0.4429923892021179,
                        "yaw": 99.94245147705078
                    }
                },
                "velocity": {
                    "x": -1.4382847547531128,
                    "y": 7.889112949371338,
                    "z": -0.060187749564647675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 197.14320373535156,
                        "y": 5683.697265625,
                        "z": 364.6020202636719
                    },
                    "rotation": {
                        "roll": -2.6681604481382237e-08,
                        "pitch": -0.5385125875473022,
                        "yaw": 113.23918914794922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.771145820617676,
                "transform": {
                    "location": {
                        "x": 210.517578125,
                        "y": 5653.02490234375,
                        "z": 364.88677978515625
                    },
                    "rotation": {
                        "roll": -0.013946540653705597,
                        "pitch": 0.38104939460754395,
                        "yaw": -74.8454360961914
                    }
                },
                "velocity": {
                    "x": 1.4242684841156006,
                    "y": -5.592465877532959,
                    "z": 0.04370787367224693
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.723987579345703,
                "transform": {
                    "location": {
                        "x": 214.50445556640625,
                        "y": 5634.84814453125,
                        "z": 365.0294494628906
                    },
                    "rotation": {
                        "roll": 0.0009125227225013077,
                        "pitch": 0.42855337262153625,
                        "yaw": -79.55851745605469
                    }
                },
                "velocity": {
                    "x": 1.0176753997802734,
                    "y": -5.632617473602295,
                    "z": 0.04460859298706055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2535991966724396,
        "expert_target_speed": 10.0,
        "target_point": [
            17.606913975496372,
            -0.8996071595608535
        ],
        "target_point_next": [
            30.504401597278754,
            -11.443133966548395
        ]
    },
    "260": {
        "acceleration": [
            -0.09191155433654785,
            0.5162525177001953,
            -0.006580725312232971
        ],
        "angular_velocity": [
            -0.05259621515870094,
            0.02171187475323677,
            -0.9966014623641968
        ],
        "forward_vector": [
            0.07370445132255554,
            -0.9972595572471619,
            0.0064045945182442665
        ],
        "right_vector": [
            0.9972801208496094,
            0.07370191067457199,
            -0.000632793118711561
        ],
        "location": [
            217.8093719482422,
            5610.216796875,
            365.2016296386719
        ],
        "rotation": [
            0.036257121711969376,
            0.36695873737335205,
            -85.77312469482422
        ],
        "velocity": [
            0.3484887182712555,
            -5.012181758880615,
            0.03616933897137642
        ],
        "speed": 5.024282075164363,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.014930725097656,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                237.409912109375,
                5580.00439453125,
                365.5255126953125
            ],
            "velocity": [
                -5.873699188232422,
                0.01421082578599453,
                -0.036843203008174896
            ],
            "speed_kmh": 21.14579494221805,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9534934163093567,
                "transform": {
                    "location": {
                        "x": 168.5507049560547,
                        "y": 5583.52099609375,
                        "z": 365.7347717285156
                    },
                    "rotation": {
                        "roll": -0.006744383834302425,
                        "pitch": -0.652522087097168,
                        "yaw": -0.0628967210650444
                    }
                },
                "velocity": {
                    "x": 0.9513732194900513,
                    "y": 0.008373348973691463,
                    "z": 0.06299697607755661
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1379018872976303,
                "transform": {
                    "location": {
                        "x": 168.49717712402344,
                        "y": 5586.7705078125,
                        "z": 365.7257385253906
                    },
                    "rotation": {
                        "roll": 0.00036713771987706423,
                        "pitch": -0.7957442998886108,
                        "yaw": -0.1377258151769638
                    }
                },
                "velocity": {
                    "x": 0.0019540865905582905,
                    "y": -2.9808978069922887e-05,
                    "z": 0.13788804411888123
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.0614776611328,
                        "y": 5525.5146484375,
                        "z": 365.8626403808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.342837810516357,
                "transform": {
                    "location": {
                        "x": 261.1790466308594,
                        "y": 5580.0146484375,
                        "z": 365.80859375
                    },
                    "rotation": {
                        "roll": -0.0070800757966935635,
                        "pitch": -0.7914344668388367,
                        "yaw": -179.64114379882812
                    }
                },
                "velocity": {
                    "x": -5.342109680175781,
                    "y": -0.0403546467423439,
                    "z": -0.07844081521034241
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.85542631149292,
                "transform": {
                    "location": {
                        "x": 214.2967071533203,
                        "y": 5545.0185546875,
                        "z": 365.68798828125
                    },
                    "rotation": {
                        "roll": 0.0006728787557221949,
                        "pitch": -0.4950862228870392,
                        "yaw": 88.28107452392578
                    }
                },
                "velocity": {
                    "x": 0.14540719985961914,
                    "y": 4.853026390075684,
                    "z": -0.046452078968286514
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.80493688583374,
                "transform": {
                    "location": {
                        "x": 188.7645263671875,
                        "y": 5583.56982421875,
                        "z": 365.48822021484375
                    },
                    "rotation": {
                        "roll": 0.00475390674546361,
                        "pitch": -0.5885573625564575,
                        "yaw": -0.11843869835138321
                    }
                },
                "velocity": {
                    "x": 6.804742336273193,
                    "y": -0.013828040100634098,
                    "z": -0.049550678580999374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.77551794052124,
                "transform": {
                    "location": {
                        "x": 188.68655395507812,
                        "y": 5586.8203125,
                        "z": 365.52752685546875
                    },
                    "rotation": {
                        "roll": 0.0009879939025267959,
                        "pitch": -0.5056798458099365,
                        "yaw": -0.09930419921875
                    }
                },
                "velocity": {
                    "x": 6.77532958984375,
                    "y": -0.01322608720511198,
                    "z": -0.048756908625364304
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.8738322257995605,
                "transform": {
                    "location": {
                        "x": 237.409912109375,
                        "y": 5580.00439453125,
                        "z": 365.5255126953125
                    },
                    "rotation": {
                        "roll": 0.0003200675710104406,
                        "pitch": -0.3994430899620056,
                        "yaw": 179.8557891845703
                    }
                },
                "velocity": {
                    "x": -5.873699188232422,
                    "y": 0.01421082578599453,
                    "z": -0.036843203008174896
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.070212364196777,
                "transform": {
                    "location": {
                        "x": 214.85452270507812,
                        "y": 5563.61376953125,
                        "z": 365.5485534667969
                    },
                    "rotation": {
                        "roll": 0.0002775941393338144,
                        "pitch": -0.5096140503883362,
                        "yaw": 88.26659393310547
                    }
                },
                "velocity": {
                    "x": 0.15345951914787292,
                    "y": 5.0677924156188965,
                    "z": -0.03136167302727699
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.088571548461914,
                "transform": {
                    "location": {
                        "x": 211.1785888671875,
                        "y": 5636.7744140625,
                        "z": 365.0057373046875
                    },
                    "rotation": {
                        "roll": -0.031188929453492165,
                        "pitch": -0.4417424499988556,
                        "yaw": 100.50045013427734
                    }
                },
                "velocity": {
                    "x": -1.5057471990585327,
                    "y": 7.946944236755371,
                    "z": -0.061600055545568466
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 196.41531372070312,
                        "y": 5685.64794921875,
                        "z": 364.5810852050781
                    },
                    "rotation": {
                        "roll": -2.6681604481382237e-08,
                        "pitch": -0.5385125875473022,
                        "yaw": 113.23918914794922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.158065319061279,
                "transform": {
                    "location": {
                        "x": 210.90054321289062,
                        "y": 5651.515625,
                        "z": 364.89935302734375
                    },
                    "rotation": {
                        "roll": -0.011383049190044403,
                        "pitch": 0.3092641234397888,
                        "yaw": -75.47724914550781
                    }
                },
                "velocity": {
                    "x": 1.7280383110046387,
                    "y": -6.946128845214844,
                    "z": 0.05540410801768303
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.420776844024658,
                "transform": {
                    "location": {
                        "x": 214.75100708007812,
                        "y": 5633.4765625,
                        "z": 365.0397033691406
                    },
                    "rotation": {
                        "roll": -0.011413573287427425,
                        "pitch": 0.4593985080718994,
                        "yaw": -79.75391387939453
                    }
                },
                "velocity": {
                    "x": 0.882992148399353,
                    "y": -5.348223686218262,
                    "z": 0.040595557540655136
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2500276565551758,
        "expert_target_speed": 10.0,
        "target_point": [
            16.347907133398433,
            -0.8251230080793668
        ],
        "target_point_next": [
            29.288614760557113,
            -11.315558203632124
        ]
    },
    "265": {
        "acceleration": [
            -0.22413551807403564,
            1.7751598358154297,
            0.004752948880195618
        ],
        "angular_velocity": [
            0.13283228874206543,
            0.05395123362541199,
            -1.2862048149108887
        ],
        "forward_vector": [
            0.06811962276697159,
            -0.9976720213890076,
            0.0032082737889140844
        ],
        "right_vector": [
            0.9976769685745239,
            0.06811727583408356,
            -0.0008351171272806823
        ],
        "location": [
            217.8828125,
            5609.09130859375,
            365.21002197265625
        ],
        "rotation": [
            0.04784893989562988,
            0.18382087349891663,
            -86.09398651123047
        ],
        "velocity": [
            0.25247323513031006,
            -4.191577434539795,
            0.029326191172003746
        ],
        "speed": 4.199174219319838,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.24809646606445,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                235.9656219482422,
                5580.0078125,
                365.51690673828125
            ],
            "velocity": [
                -5.688165187835693,
                0.01326410286128521,
                -0.029836539179086685
            ],
            "speed_kmh": 20.477732054610588,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3813517093658447,
                "transform": {
                    "location": {
                        "x": 168.97897338867188,
                        "y": 5583.5244140625,
                        "z": 365.7378845214844
                    },
                    "rotation": {
                        "roll": -0.01068115234375,
                        "pitch": -0.5253917574882507,
                        "yaw": 0.04143982753157616
                    }
                },
                "velocity": {
                    "x": 2.3811988830566406,
                    "y": 0.018975036218762398,
                    "z": -0.019174546003341675
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9373769164085388,
                "transform": {
                    "location": {
                        "x": 168.56578063964844,
                        "y": 5586.77099609375,
                        "z": 365.7381591796875
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": -0.7712444067001343,
                        "yaw": -0.11404415220022202
                    }
                },
                "velocity": {
                    "x": 0.9373148083686829,
                    "y": 0.00917902309447527,
                    "z": -0.0056745815090835094
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.00045776367188,
                        "y": 5528.1396484375,
                        "z": 365.83984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.887404441833496,
                "transform": {
                    "location": {
                        "x": 259.7518005371094,
                        "y": 5580.0048828125,
                        "z": 365.7868957519531
                    },
                    "rotation": {
                        "roll": -0.008483885787427425,
                        "pitch": -0.7478305697441101,
                        "yaw": -179.5630340576172
                    }
                },
                "velocity": {
                    "x": -5.88661003112793,
                    "y": -0.04416899010539055,
                    "z": -0.08604192733764648
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.72335147857666,
                "transform": {
                    "location": {
                        "x": 214.333984375,
                        "y": 5546.2490234375,
                        "z": 365.67730712890625
                    },
                    "rotation": {
                        "roll": -9.154387953458354e-05,
                        "pitch": -0.4893488883972168,
                        "yaw": 88.28569030761719
                    }
                },
                "velocity": {
                    "x": 0.14133219420909882,
                    "y": 4.721071243286133,
                    "z": -0.03951667621731758
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.565571308135986,
                "transform": {
                    "location": {
                        "x": 190.4306182861328,
                        "y": 5583.56591796875,
                        "z": 365.4775390625
                    },
                    "rotation": {
                        "roll": 0.001774498843587935,
                        "pitch": -0.4725671112537384,
                        "yaw": -0.0974731296300888
                    }
                },
                "velocity": {
                    "x": 6.565433025360107,
                    "y": -0.013165832497179508,
                    "z": -0.040527377277612686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.591640472412109,
                "transform": {
                    "location": {
                        "x": 190.35069274902344,
                        "y": 5586.8173828125,
                        "z": 365.51666259765625
                    },
                    "rotation": {
                        "roll": 0.0003535337746143341,
                        "pitch": -0.38043469190597534,
                        "yaw": -0.1089477464556694
                    }
                },
                "velocity": {
                    "x": 6.591525554656982,
                    "y": -0.012625912204384804,
                    "z": -0.0368623360991478
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.688258647918701,
                "transform": {
                    "location": {
                        "x": 235.9656219482422,
                        "y": 5580.0078125,
                        "z": 365.51690673828125
                    },
                    "rotation": {
                        "roll": 0.0014494411880150437,
                        "pitch": -0.3864452540874481,
                        "yaw": 179.87840270996094
                    }
                },
                "velocity": {
                    "x": -5.688165187835693,
                    "y": 0.01326410286128521,
                    "z": -0.029836539179086685
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.0099663734436035,
                "transform": {
                    "location": {
                        "x": 214.89382934570312,
                        "y": 5564.900390625,
                        "z": 365.5387268066406
                    },
                    "rotation": {
                        "roll": 0.0032084856647998095,
                        "pitch": -0.4768974483013153,
                        "yaw": 88.08846282958984
                    }
                },
                "velocity": {
                    "x": 0.1551838517189026,
                    "y": 5.007342338562012,
                    "z": -0.046961426734924316
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.018969535827637,
                "transform": {
                    "location": {
                        "x": 210.7985076904297,
                        "y": 5638.7509765625,
                        "z": 364.9901428222656
                    },
                    "rotation": {
                        "roll": -0.0356750451028347,
                        "pitch": -0.4501367509365082,
                        "yaw": 100.79899597167969
                    }
                },
                "velocity": {
                    "x": -1.5658433437347412,
                    "y": 7.864363670349121,
                    "z": -0.0615529827773571
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.171520233154297,
                "transform": {
                    "location": {
                        "x": 211.37030029296875,
                        "y": 5649.63720703125,
                        "z": 364.9142761230469
                    },
                    "rotation": {
                        "roll": -0.0018615617882460356,
                        "pitch": 0.3176515996456146,
                        "yaw": -75.8853759765625
                    }
                },
                "velocity": {
                    "x": 1.9659775495529175,
                    "y": -7.931253910064697,
                    "z": 0.06233451887965202
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.346976280212402,
                "transform": {
                    "location": {
                        "x": 214.96913146972656,
                        "y": 5632.1572265625,
                        "z": 365.0499572753906
                    },
                    "rotation": {
                        "roll": -0.007995600812137127,
                        "pitch": 0.4286148250102997,
                        "yaw": -80.3272705078125
                    }
                },
                "velocity": {
                    "x": 0.8470048904418945,
                    "y": -5.279314994812012,
                    "z": 0.03963220492005348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2442026287317276,
        "expert_target_speed": 10.0,
        "target_point": [
            15.224393868353308,
            -0.7301833249981107
        ],
        "target_point_next": [
            28.223631887216992,
            -11.148002454385209
        ]
    },
    "270": {
        "acceleration": [
            -0.1367473602294922,
            0.8941793441772461,
            0.0067537277936935425
        ],
        "angular_velocity": [
            -0.28835755586624146,
            -0.03719016909599304,
            -1.6847028732299805
        ],
        "forward_vector": [
            0.06243675574660301,
            -0.9980407953262329,
            0.004023540765047073
        ],
        "right_vector": [
            0.9980488419532776,
            0.062434472143650055,
            -0.000690820103045553
        ],
        "location": [
            217.94163513183594,
            5608.08447265625,
            365.2169189453125
        ],
        "rotation": [
            0.03958139941096306,
            0.23053252696990967,
            -86.42028045654297
        ],
        "velocity": [
            0.21227139234542847,
            -3.903958320617676,
            0.028794221580028534
        ],
        "speed": 3.9097250175847726,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.628196716308594,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                234.56710815429688,
                5580.01123046875,
                365.509765625
            ],
            "velocity": [
                -5.5019683837890625,
                0.013559313490986824,
                -0.025704460218548775
            ],
            "speed_kmh": 19.807362486947017,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 215.11328125,
                        "y": 5509.2255859375,
                        "z": 366.0707702636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.990086317062378,
                "transform": {
                    "location": {
                        "x": 169.77882385253906,
                        "y": 5583.53125,
                        "z": 365.7282409667969
                    },
                    "rotation": {
                        "roll": -0.014709471724927425,
                        "pitch": -0.47470495104789734,
                        "yaw": 0.24518869817256927
                    }
                },
                "velocity": {
                    "x": 3.9895734786987305,
                    "y": 0.03601600602269173,
                    "z": -0.052870459854602814
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7030035257339478,
                "transform": {
                    "location": {
                        "x": 168.907958984375,
                        "y": 5586.7734375,
                        "z": 365.73291015625
                    },
                    "rotation": {
                        "roll": -0.0024108884390443563,
                        "pitch": -0.763300895690918,
                        "yaw": -0.0520629808306694
                    }
                },
                "velocity": {
                    "x": 1.702711582183838,
                    "y": 0.01647232100367546,
                    "z": -0.026885904371738434
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 213.99319458007812,
                        "y": 5530.3125,
                        "z": 365.82122802734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.48891857266426086,
                        "yaw": 89.43575286865234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.443285942077637,
                "transform": {
                    "location": {
                        "x": 257.9142150878906,
                        "y": 5579.99560546875,
                        "z": 365.7594909667969
                    },
                    "rotation": {
                        "roll": 0.0010990329319611192,
                        "pitch": -0.6018352508544922,
                        "yaw": -179.72164916992188
                    }
                },
                "velocity": {
                    "x": -8.442378997802734,
                    "y": -0.024822799488902092,
                    "z": -0.12120555341243744
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.612089157104492,
                "transform": {
                    "location": {
                        "x": 214.3671875,
                        "y": 5547.3759765625,
                        "z": 365.66790771484375
                    },
                    "rotation": {
                        "roll": -0.0002746576501522213,
                        "pitch": -0.4725671112537384,
                        "yaw": 88.20478820800781
                    }
                },
                "velocity": {
                    "x": 0.13743750751018524,
                    "y": 4.60988187789917,
                    "z": -0.03831866756081581
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.397014141082764,
                "transform": {
                    "location": {
                        "x": 192.05319213867188,
                        "y": 5583.56298828125,
                        "z": 365.4677734375
                    },
                    "rotation": {
                        "roll": 0.0020067123696208,
                        "pitch": -0.3521713614463806,
                        "yaw": -0.1364746242761612
                    }
                },
                "velocity": {
                    "x": 6.396921157836914,
                    "y": -0.015066648833453655,
                    "z": -0.030941633507609367
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.403862476348877,
                "transform": {
                    "location": {
                        "x": 191.97914123535156,
                        "y": 5586.8134765625,
                        "z": 365.5067443847656
                    },
                    "rotation": {
                        "roll": 0.0003831906651612371,
                        "pitch": -0.27800917625427246,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": 6.403782844543457,
                    "y": -0.013196883723139763,
                    "z": -0.029105428606271744
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.502045154571533,
                "transform": {
                    "location": {
                        "x": 234.56710815429688,
                        "y": 5580.01123046875,
                        "z": 365.509765625
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": -0.32791054248809814,
                        "yaw": 179.8455047607422
                    }
                },
                "velocity": {
                    "x": -5.5019683837890625,
                    "y": 0.013559313490986824,
                    "z": -0.025704460218548775
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.76932430267334,
                "transform": {
                    "location": {
                        "x": 214.93234252929688,
                        "y": 5566.13818359375,
                        "z": 365.52862548828125
                    },
                    "rotation": {
                        "roll": 0.0022461472544819117,
                        "pitch": -0.4906056225299835,
                        "yaw": 88.13026428222656
                    }
                },
                "velocity": {
                    "x": 0.14801836013793945,
                    "y": 4.766880512237549,
                    "z": -0.03737363591790199
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.087783813476562,
                "transform": {
                    "location": {
                        "x": 210.39328002929688,
                        "y": 5640.7236328125,
                        "z": 364.9745178222656
                    },
                    "rotation": {
                        "roll": -0.0381164625287056,
                        "pitch": -0.4498225748538971,
                        "yaw": 101.53768920898438
                    }
                },
                "velocity": {
                    "x": -1.6545560359954834,
                    "y": 7.916476726531982,
                    "z": -0.06393498182296753
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.801964282989502,
                "transform": {
                    "location": {
                        "x": 211.853271484375,
                        "y": 5647.66357421875,
                        "z": 364.9288330078125
                    },
                    "rotation": {
                        "roll": -0.0290222130715847,
                        "pitch": 0.4545353949069977,
                        "yaw": -76.30327606201172
                    }
                },
                "velocity": {
                    "x": 1.7485674619674683,
                    "y": -7.6032562255859375,
                    "z": 0.06045207753777504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.203667640686035,
                "transform": {
                    "location": {
                        "x": 215.18492126464844,
                        "y": 5630.822265625,
                        "z": 365.05987548828125
                    },
                    "rotation": {
                        "roll": -0.00045775645412504673,
                        "pitch": 0.44476139545440674,
                        "yaw": -80.62498474121094
                    }
                },
                "velocity": {
                    "x": 0.8188596367835999,
                    "y": -5.138683795928955,
                    "z": 0.03943685442209244
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.23244886100292206,
        "expert_target_speed": 10.0,
        "target_point": [
            14.219762235096407,
            -0.63928790724305
        ],
        "target_point_next": [
            27.278136301091223,
            -10.982885503642906
        ]
    },
    "275": {
        "acceleration": [
            -0.01938551664352417,
            0.5069112777709961,
            -0.0027189403772354126
        ],
        "angular_velocity": [
            -0.1999332159757614,
            -0.09220872819423676,
            -0.4694427251815796
        ],
        "forward_vector": [
            0.057402294129133224,
            -0.9983377456665039,
            0.005164123140275478
        ],
        "right_vector": [
            0.9983510971069336,
            0.0574006550014019,
            -0.0004655382945202291
        ],
        "location": [
            217.9922637939453,
            5607.13134765625,
            365.2235107421875
        ],
        "rotation": [
            0.026673737913370132,
            0.29588377475738525,
            -86.70923614501953
        ],
        "velocity": [
            0.1896498203277588,
            -3.739234209060669,
            0.027023982256650925
        ],
        "speed": 3.744040534577573,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.099672317504883,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                233.21624755859375,
                5580.01416015625,
                365.5029296875
            ],
            "velocity": [
                -5.308117389678955,
                0.012730170041322708,
                -0.024647722020745277
            ],
            "speed_kmh": 19.109483563899555,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.8533477783203,
                        "y": 5511.9169921875,
                        "z": 366.00244140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.433016300201416,
                "transform": {
                    "location": {
                        "x": 170.9668731689453,
                        "y": 5583.54248046875,
                        "z": 365.7123107910156
                    },
                    "rotation": {
                        "roll": -0.01611328125,
                        "pitch": -0.4876071810722351,
                        "yaw": 0.43821170926094055
                    }
                },
                "velocity": {
                    "x": 5.4322333335876465,
                    "y": 0.05596704035997391,
                    "z": -0.07331579923629761
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2350263595581055,
                "transform": {
                    "location": {
                        "x": 169.39991760253906,
                        "y": 5586.77734375,
                        "z": 365.72576904296875
                    },
                    "rotation": {
                        "roll": -0.0024719240609556437,
                        "pitch": -0.772699236869812,
                        "yaw": 0.08366646617650986
                    }
                },
                "velocity": {
                    "x": 2.2346932888031006,
                    "y": 0.02331424690783024,
                    "z": -0.0307414960116148
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 213.98843383789062,
                        "y": 5531.7685546875,
                        "z": 365.8087463378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.48891857266426086,
                        "yaw": 89.43575286865234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.161893844604492,
                "transform": {
                    "location": {
                        "x": 255.8086700439453,
                        "y": 5579.9892578125,
                        "z": 365.7325439453125
                    },
                    "rotation": {
                        "roll": -0.00238037109375,
                        "pitch": -0.7212815880775452,
                        "yaw": -179.8247528076172
                    }
                },
                "velocity": {
                    "x": -8.161213874816895,
                    "y": -0.019677098840475082,
                    "z": -0.10351260751485825
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.6633195877075195,
                "transform": {
                    "location": {
                        "x": 214.40499877929688,
                        "y": 5548.6494140625,
                        "z": 365.6572265625
                    },
                    "rotation": {
                        "roll": -0.0009765684371814132,
                        "pitch": -0.4086911678314209,
                        "yaw": 88.14369201660156
                    }
                },
                "velocity": {
                    "x": 0.17043805122375488,
                    "y": 5.6605706214904785,
                    "z": -0.045605000108480453
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.131582260131836,
                "transform": {
                    "location": {
                        "x": 193.6183624267578,
                        "y": 5583.55908203125,
                        "z": 365.4611511230469
                    },
                    "rotation": {
                        "roll": 0.0002513832878321409,
                        "pitch": -0.3562285006046295,
                        "yaw": -0.1080627515912056
                    }
                },
                "velocity": {
                    "x": 6.131539821624756,
                    "y": -0.013387156650424004,
                    "z": -0.018406858667731285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.145081043243408,
                "transform": {
                    "location": {
                        "x": 193.54702758789062,
                        "y": 5586.810546875,
                        "z": 365.5001220703125
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": -0.2807549238204956,
                        "yaw": -0.1232910007238388
                    }
                },
                "velocity": {
                    "x": 6.145044326782227,
                    "y": -0.013356756418943405,
                    "z": -0.01644478738307953
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.308189868927002,
                "transform": {
                    "location": {
                        "x": 233.21624755859375,
                        "y": 5580.01416015625,
                        "z": 365.5029296875
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": -0.27947765588760376,
                        "yaw": 179.8782196044922
                    }
                },
                "velocity": {
                    "x": -5.308117389678955,
                    "y": 0.012730170041322708,
                    "z": -0.024647722020745277
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.582653522491455,
                "transform": {
                    "location": {
                        "x": 214.9676513671875,
                        "y": 5567.29443359375,
                        "z": 365.51971435546875
                    },
                    "rotation": {
                        "roll": -0.0005493429489433765,
                        "pitch": -0.48489558696746826,
                        "yaw": 88.20524597167969
                    }
                },
                "velocity": {
                    "x": 0.1391209214925766,
                    "y": 4.580392837524414,
                    "z": -0.03690098226070404
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.022544860839844,
                "transform": {
                    "location": {
                        "x": 209.97671508789062,
                        "y": 5642.69384765625,
                        "z": 364.958740234375
                    },
                    "rotation": {
                        "roll": -0.018280023708939552,
                        "pitch": -0.4526912569999695,
                        "yaw": 101.8265151977539
                    }
                },
                "velocity": {
                    "x": -1.672398328781128,
                    "y": 7.846033573150635,
                    "z": -0.06380119919776917
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.512670516967773,
                "transform": {
                    "location": {
                        "x": 212.23367309570312,
                        "y": 5646.00927734375,
                        "z": 364.94049072265625
                    },
                    "rotation": {
                        "roll": -0.007110588252544403,
                        "pitch": 0.6386431455612183,
                        "yaw": -76.9361343383789
                    }
                },
                "velocity": {
                    "x": 1.2123452425003052,
                    "y": -5.377542495727539,
                    "z": 0.042292747646570206
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.775945663452148,
                "transform": {
                    "location": {
                        "x": 215.38148498535156,
                        "y": 5629.5947265625,
                        "z": 365.0687561035156
                    },
                    "rotation": {
                        "roll": 0.0029465206898748875,
                        "pitch": 0.4593780040740967,
                        "yaw": -80.78781127929688
                    }
                },
                "velocity": {
                    "x": 0.7490034103393555,
                    "y": -4.716721057891846,
                    "z": 0.0345420241355896
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.21878884732723236,
        "expert_target_speed": 10.0,
        "target_point": [
            13.268345932181235,
            -0.5633983393659429
        ],
        "target_point_next": [
            26.378720510776137,
            -10.841006178383122
        ]
    },
    "280": {
        "acceleration": [
            0.0192338228225708,
            0.1960134506225586,
            0.004322230815887451
        ],
        "angular_velocity": [
            -0.16569647192955017,
            -0.10474010556936264,
            -1.1165913343429565
        ],
        "forward_vector": [
            0.053686000406742096,
            -0.9985396265983582,
            0.006034218240529299
        ],
        "right_vector": [
            0.9985578656196594,
            0.05368528515100479,
            -0.0002803399693220854
        ],
        "location": [
            218.038818359375,
            5606.20751953125,
            365.2298278808594
        ],
        "rotation": [
            0.01606258936226368,
            0.3457373380661011,
            -86.9224853515625
        ],
        "velocity": [
            0.18091276288032532,
            -3.664775848388672,
            0.025527285411953926
        ],
        "speed": 3.669238537722221,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.64031219482422,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                231.91554260253906,
                5580.017578125,
                365.49737548828125
            ],
            "velocity": [
                -5.10906457901001,
                0.01273415144532919,
                -0.02133653126657009
            ],
            "speed_kmh": 18.392850004597395,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.6063232421875,
                        "y": 5514.982421875,
                        "z": 365.9633483886719
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.582149505615234,
                "transform": {
                    "location": {
                        "x": 172.33383178710938,
                        "y": 5583.55126953125,
                        "z": 365.6932678222656
                    },
                    "rotation": {
                        "roll": 0.0009780634427443147,
                        "pitch": -0.6800819039344788,
                        "yaw": 0.3699840307235718
                    }
                },
                "velocity": {
                    "x": 5.581539630889893,
                    "y": 0.03031834587454796,
                    "z": -0.07671739161014557
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8260955810546875,
                "transform": {
                    "location": {
                        "x": 170.03585815429688,
                        "y": 5586.7822265625,
                        "z": 365.7169494628906
                    },
                    "rotation": {
                        "roll": -0.006103514228016138,
                        "pitch": -0.7741062641143799,
                        "yaw": 0.24868758022785187
                    }
                },
                "velocity": {
                    "x": 2.825659990310669,
                    "y": 0.03114888072013855,
                    "z": -0.03861501067876816
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 213.98788452148438,
                        "y": 5533.24658203125,
                        "z": 365.7961730957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.48891857266426086,
                        "yaw": 89.43575286865234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.796119213104248,
                "transform": {
                    "location": {
                        "x": 253.83663940429688,
                        "y": 5579.984375,
                        "z": 365.7076721191406
                    },
                    "rotation": {
                        "roll": 0.0014442107640206814,
                        "pitch": -0.7206395864486694,
                        "yaw": -179.892822265625
                    }
                },
                "velocity": {
                    "x": -7.795530796051025,
                    "y": -0.004309544339776039,
                    "z": -0.09567584097385406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.307287693023682,
                "transform": {
                    "location": {
                        "x": 214.45187377929688,
                        "y": 5550.1728515625,
                        "z": 365.64459228515625
                    },
                    "rotation": {
                        "roll": -0.0004272550286259502,
                        "pitch": -0.3518366813659668,
                        "yaw": 88.25019836425781
                    }
                },
                "velocity": {
                    "x": 0.2240600734949112,
                    "y": 7.303615570068359,
                    "z": -0.05876624584197998
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.931453704833984,
                "transform": {
                    "location": {
                        "x": 195.12445068359375,
                        "y": 5583.55615234375,
                        "z": 365.45697021484375
                    },
                    "rotation": {
                        "roll": 0.0008204777259379625,
                        "pitch": -0.2352590262889862,
                        "yaw": -0.1433105617761612
                    }
                },
                "velocity": {
                    "x": 5.9314188957214355,
                    "y": -0.015025519765913486,
                    "z": -0.013756666332483292
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.916677951812744,
                "transform": {
                    "location": {
                        "x": 195.05007934570312,
                        "y": 5586.8076171875,
                        "z": 365.495849609375
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": -0.15945759415626526,
                        "yaw": -0.1271972507238388
                    }
                },
                "velocity": {
                    "x": 5.9166483879089355,
                    "y": -0.013153423555195332,
                    "z": -0.013369054533541203
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.109125137329102,
                "transform": {
                    "location": {
                        "x": 231.91554260253906,
                        "y": 5580.017578125,
                        "z": 365.49737548828125
                    },
                    "rotation": {
                        "roll": -0.0010681147687137127,
                        "pitch": -0.28408804535865784,
                        "yaw": 179.85157775878906
                    }
                },
                "velocity": {
                    "x": -5.10906457901001,
                    "y": 0.01273415144532919,
                    "z": -0.02133653126657009
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.297413349151611,
                "transform": {
                    "location": {
                        "x": 215.00132751464844,
                        "y": 5568.3994140625,
                        "z": 365.5109558105469
                    },
                    "rotation": {
                        "roll": -3.0496861654683016e-05,
                        "pitch": -0.494874507188797,
                        "yaw": 88.24749755859375
                    }
                },
                "velocity": {
                    "x": 0.1289968490600586,
                    "y": 4.29534912109375,
                    "z": -0.03311019390821457
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.084108352661133,
                "transform": {
                    "location": {
                        "x": 209.5447540283203,
                        "y": 5644.65966796875,
                        "z": 364.9429626464844
                    },
                    "rotation": {
                        "roll": -0.04248046875,
                        "pitch": -0.449310302734375,
                        "yaw": 102.39266204833984
                    }
                },
                "velocity": {
                    "x": -1.7883137464523315,
                    "y": 7.88356876373291,
                    "z": -0.06386542320251465
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0889787673950195,
                "transform": {
                    "location": {
                        "x": 212.4364776611328,
                        "y": 5645.103515625,
                        "z": 364.947021484375
                    },
                    "rotation": {
                        "roll": 0.00019355346739757806,
                        "pitch": 0.6808537244796753,
                        "yaw": -76.63282012939453
                    }
                },
                "velocity": {
                    "x": 0.6751501560211182,
                    "y": -3.014204978942871,
                    "z": 0.02302495948970318
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.645262241363525,
                "transform": {
                    "location": {
                        "x": 215.56124877929688,
                        "y": 5628.42626953125,
                        "z": 365.07769775390625
                    },
                    "rotation": {
                        "roll": -0.01852412521839142,
                        "pitch": 0.4354723393917084,
                        "yaw": -81.08967590332031
                    }
                },
                "velocity": {
                    "x": 0.63618403673172,
                    "y": -4.601372241973877,
                    "z": 0.03325721621513367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2191680371761322,
        "expert_target_speed": 10.0,
        "target_point": [
            12.345355014748309,
            -0.5109204089032693
        ],
        "target_point_next": [
            25.49387584105899,
            -10.739681065198301
        ]
    },
    "285": {
        "acceleration": [
            -0.033252835273742676,
            0.13765811920166016,
            -0.009049810469150543
        ],
        "angular_velocity": [
            -0.08589816093444824,
            -0.01733350194990635,
            0.11196813732385635
        ],
        "forward_vector": [
            0.05186890810728073,
            -0.9986323714256287,
            0.006553840823471546
        ],
        "right_vector": [
            0.9986538887023926,
            0.05186914652585983,
            -0.00013385455531533808
        ],
        "location": [
            218.08421325683594,
            5605.29541015625,
            365.236083984375
        ],
        "rotation": [
            0.007669465616345406,
            0.3755101263523102,
            -87.0267333984375
        ],
        "velocity": [
            0.17761832475662231,
            -3.627101421356201,
            0.02518608048558235
        ],
        "speed": 3.6314477815457464,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.407075881958008,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                231.00460815429688,
                5579.998046875,
                365.4983825683594
            ],
            "velocity": [
                -1.1735913753509521,
                -0.07615029811859131,
                -0.0039338585920631886
            ],
            "speed_kmh": 4.233837329233216,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.40936279296875,
                        "y": 5517.60498046875,
                        "z": 365.93359375
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.628746509552002,
                "transform": {
                    "location": {
                        "x": 173.9413299560547,
                        "y": 5583.55908203125,
                        "z": 365.6711120605469
                    },
                    "rotation": {
                        "roll": -0.0018920896109193563,
                        "pitch": -0.43258318305015564,
                        "yaw": 0.30133551359176636
                    }
                },
                "velocity": {
                    "x": 7.627920150756836,
                    "y": 0.0367983840405941,
                    "z": -0.10608971118927002
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.461698293685913,
                "transform": {
                    "location": {
                        "x": 170.82179260253906,
                        "y": 5586.7900390625,
                        "z": 365.7061767578125
                    },
                    "rotation": {
                        "roll": -0.008392333053052425,
                        "pitch": -0.7722758054733276,
                        "yaw": 0.40002697706222534
                    }
                },
                "velocity": {
                    "x": 3.4611401557922363,
                    "y": 0.03979244828224182,
                    "z": -0.04775853082537651
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.03866577148438,
                        "y": 5535.666015625,
                        "z": 365.7757873535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4802852272987366,
                        "yaw": 88.2802734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.098634719848633,
                "transform": {
                    "location": {
                        "x": 251.8379669189453,
                        "y": 5579.9833984375,
                        "z": 365.6832275390625
                    },
                    "rotation": {
                        "roll": 0.0025839940644800663,
                        "pitch": -0.6764209270477295,
                        "yaw": -179.9682159423828
                    }
                },
                "velocity": {
                    "x": -8.098121643066406,
                    "y": 0.002138981595635414,
                    "z": -0.09112853556871414
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.161750793457031,
                "transform": {
                    "location": {
                        "x": 214.51217651367188,
                        "y": 5552.17041015625,
                        "z": 365.6287841796875
                    },
                    "rotation": {
                        "roll": -0.0020141489803791046,
                        "pitch": -0.3781397342681885,
                        "yaw": 88.2714614868164
                    }
                },
                "velocity": {
                    "x": 0.24454262852668762,
                    "y": 8.157838821411133,
                    "z": -0.063663549721241
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.745567798614502,
                "transform": {
                    "location": {
                        "x": 196.58554077148438,
                        "y": 5583.55322265625,
                        "z": 365.45355224609375
                    },
                    "rotation": {
                        "roll": 0.0008177580311894417,
                        "pitch": -0.14086581766605377,
                        "yaw": -0.1142272800207138
                    }
                },
                "velocity": {
                    "x": 5.745548725128174,
                    "y": -0.01302935928106308,
                    "z": -0.006796684116125107
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.796534061431885,
                "transform": {
                    "location": {
                        "x": 196.51795959472656,
                        "y": 5586.80419921875,
                        "z": 365.49212646484375
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": -0.071962870657444,
                        "yaw": -0.127410888671875
                    }
                },
                "velocity": {
                    "x": 5.796516418457031,
                    "y": -0.012849796563386917,
                    "z": -0.0064822291024029255
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1760659217834473,
                "transform": {
                    "location": {
                        "x": 231.00460815429688,
                        "y": 5579.998046875,
                        "z": 365.4983825683594
                    },
                    "rotation": {
                        "roll": -0.047515869140625,
                        "pitch": -0.8741753697395325,
                        "yaw": 178.30804443359375
                    }
                },
                "velocity": {
                    "x": -1.1735913753509521,
                    "y": -0.07615029811859131,
                    "z": -0.0039338585920631886
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.098344326019287,
                "transform": {
                    "location": {
                        "x": 215.03265380859375,
                        "y": 5569.453125,
                        "z": 365.5028381347656
                    },
                    "rotation": {
                        "roll": 0.010307232849299908,
                        "pitch": -0.48592695593833923,
                        "yaw": 88.26863098144531
                    }
                },
                "velocity": {
                    "x": 0.12147022038698196,
                    "y": 4.096409797668457,
                    "z": -0.03315930813550949
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.024106979370117,
                "transform": {
                    "location": {
                        "x": 209.091552734375,
                        "y": 5646.62158203125,
                        "z": 364.9272155761719
                    },
                    "rotation": {
                        "roll": -0.02978513576090336,
                        "pitch": -0.4514481723308563,
                        "yaw": 102.91387939453125
                    }
                },
                "velocity": {
                    "x": -1.825278878211975,
                    "y": 7.813487529754639,
                    "z": -0.06373828649520874
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9276862144470215,
                "transform": {
                    "location": {
                        "x": 212.62733459472656,
                        "y": 5644.26123046875,
                        "z": 364.9559631347656
                    },
                    "rotation": {
                        "roll": 0.0031935947481542826,
                        "pitch": 0.40867069363594055,
                        "yaw": -76.88400268554688
                    }
                },
                "velocity": {
                    "x": 0.8593243956565857,
                    "y": -3.832411050796509,
                    "z": 0.030117912217974663
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.5640034675598145,
                "transform": {
                    "location": {
                        "x": 215.71897888183594,
                        "y": 5627.3154296875,
                        "z": 365.0860900878906
                    },
                    "rotation": {
                        "roll": -0.0032654013484716415,
                        "pitch": 0.4275834858417511,
                        "yaw": -81.52095031738281
                    }
                },
                "velocity": {
                    "x": 0.6269862055778503,
                    "y": -4.5206122398376465,
                    "z": 0.032898757606744766
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.22190986573696136,
        "expert_target_speed": 10.0,
        "target_point": [
            11.433028517869325,
            -0.48646827959586436
        ],
        "target_point_next": [
            24.600149013721264,
            -10.691275104392238
        ]
    },
    "290": {
        "acceleration": [
            -0.027336478233337402,
            0.13877391815185547,
            -0.003223232924938202
        ],
        "angular_velocity": [
            -0.002564067952334881,
            -0.01943832077085972,
            -0.8959582448005676
        ],
        "forward_vector": [
            0.05009448900818825,
            -0.9987215399742126,
            0.006766863167285919
        ],
        "right_vector": [
            0.9987444877624512,
            0.0500948466360569,
            -0.00011711543629644439
        ],
        "location": [
            218.12803649902344,
            5604.3935546875,
            365.2423400878906
        ],
        "rotation": [
            0.006710373796522617,
            0.3877156674861908,
            -87.12853240966797
        ],
        "velocity": [
            0.17094826698303223,
            -3.5928125381469727,
            0.02496822364628315
        ],
        "speed": 3.596877151676242,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.579891204833984,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.98312377929688,
                5579.994140625,
                365.49859619140625
            ],
            "velocity": [
                0.007137918844819069,
                0.0011822120286524296,
                0.0018285827245563269
            ],
            "speed_kmh": 0.026865559410407136,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.29757690429688,
                        "y": 5519.54541015625,
                        "z": 365.91522216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.353397369384766,
                "transform": {
                    "location": {
                        "x": 176.00929260253906,
                        "y": 5583.5693359375,
                        "z": 365.6424560546875
                    },
                    "rotation": {
                        "roll": -0.0028991694562137127,
                        "pitch": -0.590449333190918,
                        "yaw": 0.27296218276023865
                    }
                },
                "velocity": {
                    "x": 8.352533340454102,
                    "y": 0.038271401077508926,
                    "z": -0.11386583745479584
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.307465076446533,
                "transform": {
                    "location": {
                        "x": 171.7928924560547,
                        "y": 5586.79736328125,
                        "z": 365.69268798828125
                    },
                    "rotation": {
                        "roll": -0.006408690009266138,
                        "pitch": -0.7669345736503601,
                        "yaw": 0.4090254604816437
                    }
                },
                "velocity": {
                    "x": 4.306985855102539,
                    "y": 0.02298150770366192,
                    "z": -0.060009878128767014
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.742038726806641,
                "transform": {
                    "location": {
                        "x": 214.07655334472656,
                        "y": 5537.36669921875,
                        "z": 365.77178955078125
                    },
                    "rotation": {
                        "roll": 0.04080890491604805,
                        "pitch": -1.3659967184066772,
                        "yaw": 88.2593002319336
                    }
                },
                "velocity": {
                    "x": 0.14548376202583313,
                    "y": 5.740087985992432,
                    "z": -0.03516672924160957
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.540043354034424,
                "transform": {
                    "location": {
                        "x": 249.87733459472656,
                        "y": 5579.984375,
                        "z": 365.6618347167969
                    },
                    "rotation": {
                        "roll": 0.0014145050663501024,
                        "pitch": -0.6511219143867493,
                        "yaw": 179.96241760253906
                    }
                },
                "velocity": {
                    "x": -7.539590835571289,
                    "y": 0.005058472044765949,
                    "z": -0.08246535062789917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.265227317810059,
                "transform": {
                    "location": {
                        "x": 214.56976318359375,
                        "y": 5554.087890625,
                        "z": 365.6142578125
                    },
                    "rotation": {
                        "roll": -0.0006103636114858091,
                        "pitch": -0.48865219950675964,
                        "yaw": 88.28257751464844
                    }
                },
                "velocity": {
                    "x": 0.21631227433681488,
                    "y": 7.2617692947387695,
                    "z": -0.05870501324534416
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.529431343078613,
                "transform": {
                    "location": {
                        "x": 197.99343872070312,
                        "y": 5583.5498046875,
                        "z": 365.45233154296875
                    },
                    "rotation": {
                        "roll": -6.103515625e-05,
                        "pitch": -0.15029147267341614,
                        "yaw": -0.1477356106042862
                    }
                },
                "velocity": {
                    "x": 5.529415607452393,
                    "y": -0.012993448413908482,
                    "z": -0.0023619364947080612
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.4813456535339355,
                "transform": {
                    "location": {
                        "x": 197.92523193359375,
                        "y": 5586.80126953125,
                        "z": 365.4909362792969
                    },
                    "rotation": {
                        "roll": 0.00017363455845043063,
                        "pitch": -0.08752203732728958,
                        "yaw": -0.1319885104894638
                    }
                },
                "velocity": {
                    "x": 5.481330394744873,
                    "y": -0.012792116962373257,
                    "z": -0.002422933466732502
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.007462655194103718,
                "transform": {
                    "location": {
                        "x": 230.98312377929688,
                        "y": 5579.994140625,
                        "z": 365.49859619140625
                    },
                    "rotation": {
                        "roll": 0.06807591021060944,
                        "pitch": -0.8687726855278015,
                        "yaw": 178.16258239746094
                    }
                },
                "velocity": {
                    "x": 0.007137918844819069,
                    "y": 0.0011822120286524296,
                    "z": 0.0018285827245563269
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.461117744445801,
                "transform": {
                    "location": {
                        "x": 215.062255859375,
                        "y": 5570.48779296875,
                        "z": 365.4951477050781
                    },
                    "rotation": {
                        "roll": 0.011628704145550728,
                        "pitch": -0.3979814350605011,
                        "yaw": 88.32843780517578
                    }
                },
                "velocity": {
                    "x": 0.12579265236854553,
                    "y": 4.459229469299316,
                    "z": -0.03193007409572601
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.084589004516602,
                "transform": {
                    "location": {
                        "x": 208.62750244140625,
                        "y": 5648.5810546875,
                        "z": 364.9114685058594
                    },
                    "rotation": {
                        "roll": -0.0372619666159153,
                        "pitch": -0.4496449828147888,
                        "yaw": 103.25365447998047
                    }
                },
                "velocity": {
                    "x": -1.9185199737548828,
                    "y": 7.853392124176025,
                    "z": -0.06392444670200348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.538387775421143,
                "transform": {
                    "location": {
                        "x": 212.8633575439453,
                        "y": 5643.18798828125,
                        "z": 364.9647216796875
                    },
                    "rotation": {
                        "roll": -0.01907346583902836,
                        "pitch": 0.37258678674697876,
                        "yaw": -77.29959869384766
                    }
                },
                "velocity": {
                    "x": 0.9034563899040222,
                    "y": -4.447406768798828,
                    "z": 0.03612196072936058
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.404407024383545,
                "transform": {
                    "location": {
                        "x": 215.87640380859375,
                        "y": 5626.1953125,
                        "z": 365.0943603515625
                    },
                    "rotation": {
                        "roll": 0.001776764984242618,
                        "pitch": 0.42412057518959045,
                        "yaw": -81.77413177490234
                    }
                },
                "velocity": {
                    "x": 0.6036790609359741,
                    "y": -4.362721920013428,
                    "z": 0.03210454061627388
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.22362086176872253,
        "expert_target_speed": 10.0,
        "target_point": [
            10.530956483760763,
            -0.46474036094825283
        ],
        "target_point_next": [
            23.71619100244605,
            -10.646131973638775
        ]
    },
    "295": {
        "acceleration": [
            -0.029423236846923828,
            0.13571739196777344,
            0.005711913108825684
        ],
        "angular_velocity": [
            -0.027978941798210144,
            0.03735826909542084,
            0.18221160769462585
        ],
        "forward_vector": [
            0.048605721443891525,
            -0.9987945556640625,
            0.006840890273451805
        ],
        "right_vector": [
            0.998818039894104,
            0.04860571771860123,
            -0.00016722478903830051
        ],
        "location": [
            218.17015075683594,
            5603.4990234375,
            365.2486267089844
        ],
        "rotation": [
            0.009581498801708221,
            0.39195722341537476,
            -87.21393585205078
        ],
        "velocity": [
            0.16389146447181702,
            -3.5589261054992676,
            0.02577541209757328
        ],
        "speed": 3.5626977750759186,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.76892852783203,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.97781372070312,
                5579.994140625,
                365.4930725097656
            ],
            "velocity": [
                0.0026494774501770735,
                0.0011790136341005564,
                0.0019052574643865228
            ],
            "speed_kmh": 0.012491434524718974,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 264.7335205078125,
                        "y": 5580.03857421875,
                        "z": 366.02447509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9479414224624634,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 1.831587859157935e-08,
                    "y": -4.400916089886131e-11,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.22804260253906,
                        "y": 5520.9716796875,
                        "z": 365.90252685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.828944206237793,
                "transform": {
                    "location": {
                        "x": 178.01905822753906,
                        "y": 5583.57421875,
                        "z": 365.61456298828125
                    },
                    "rotation": {
                        "roll": 0.00784157495945692,
                        "pitch": -0.8335562348365784,
                        "yaw": 0.1329997032880783
                    }
                },
                "velocity": {
                    "x": 7.828186988830566,
                    "y": 0.012378871440887451,
                    "z": -0.10820113867521286
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.259511470794678,
                "transform": {
                    "location": {
                        "x": 172.99757385253906,
                        "y": 5586.8037109375,
                        "z": 365.6761779785156
                    },
                    "rotation": {
                        "roll": -0.0057373046875,
                        "pitch": -0.7612655162811279,
                        "yaw": 0.34263893961906433
                    }
                },
                "velocity": {
                    "x": 5.258975505828857,
                    "y": 0.025921864435076714,
                    "z": -0.07046966999769211
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.51418924331665,
                "transform": {
                    "location": {
                        "x": 214.11546325683594,
                        "y": 5538.7802734375,
                        "z": 365.7555236816406
                    },
                    "rotation": {
                        "roll": 0.021717529743909836,
                        "pitch": -0.6244500279426575,
                        "yaw": 88.28108215332031
                    }
                },
                "velocity": {
                    "x": 0.15991884469985962,
                    "y": 5.511684417724609,
                    "z": -0.04518158361315727
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.238429546356201,
                "transform": {
                    "location": {
                        "x": 248.04444885253906,
                        "y": 5579.986328125,
                        "z": 365.6423645019531
                    },
                    "rotation": {
                        "roll": 0.0019515306921675801,
                        "pitch": -0.6197781562805176,
                        "yaw": 179.9543914794922
                    }
                },
                "velocity": {
                    "x": -7.2380523681640625,
                    "y": 0.009669838473200798,
                    "z": -0.07326771318912506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.732771396636963,
                "transform": {
                    "location": {
                        "x": 214.62171936035156,
                        "y": 5555.8232421875,
                        "z": 365.6004333496094
                    },
                    "rotation": {
                        "roll": -0.0010986594716086984,
                        "pitch": -0.48626163601875305,
                        "yaw": 88.28538513183594
                    }
                },
                "velocity": {
                    "x": 0.2014915943145752,
                    "y": 6.729548931121826,
                    "z": -0.052755750715732574
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.348847389221191,
                "transform": {
                    "location": {
                        "x": 199.35226440429688,
                        "y": 5583.546875,
                        "z": 365.4521484375
                    },
                    "rotation": {
                        "roll": 0.0010021155467256904,
                        "pitch": -0.0966540053486824,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": 5.348833084106445,
                    "y": -0.012380706146359444,
                    "z": 0.0005927658057771623
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.400839805603027,
                "transform": {
                    "location": {
                        "x": 199.28335571289062,
                        "y": 5586.798828125,
                        "z": 365.4906311035156
                    },
                    "rotation": {
                        "roll": 9.895607945509255e-05,
                        "pitch": -0.029875244945287704,
                        "yaw": -0.1350707858800888
                    }
                },
                "velocity": {
                    "x": 5.400824546813965,
                    "y": -0.012812291271984577,
                    "z": 0.0014050578465685248
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.003469842951744795,
                "transform": {
                    "location": {
                        "x": 230.97781372070312,
                        "y": 5579.994140625,
                        "z": 365.4930725097656
                    },
                    "rotation": {
                        "roll": 0.010770202614367008,
                        "pitch": -0.1726057082414627,
                        "yaw": 178.16339111328125
                    }
                },
                "velocity": {
                    "x": 0.0026494774501770735,
                    "y": 0.0011790136341005564,
                    "z": 0.0019052574643865228
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.353089332580566,
                "transform": {
                    "location": {
                        "x": 215.0975799560547,
                        "y": 5571.75,
                        "z": 365.4861755371094
                    },
                    "rotation": {
                        "roll": 0.018867285922169685,
                        "pitch": -0.2957744896411896,
                        "yaw": 88.3796157836914
                    }
                },
                "velocity": {
                    "x": 0.14843261241912842,
                    "y": 5.3508758544921875,
                    "z": -0.04075141251087189
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.021958351135254,
                "transform": {
                    "location": {
                        "x": 208.13897705078125,
                        "y": 5650.53369140625,
                        "z": 364.89569091796875
                    },
                    "rotation": {
                        "roll": -0.03683474659919739,
                        "pitch": -0.45263659954071045,
                        "yaw": 103.96253967285156
                    }
                },
                "velocity": {
                    "x": -1.972612738609314,
                    "y": 7.775388717651367,
                    "z": -0.06288141757249832
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.990581035614014,
                "transform": {
                    "location": {
                        "x": 213.09983825683594,
                        "y": 5642.0498046875,
                        "z": 364.9736328125
                    },
                    "rotation": {
                        "roll": -0.002838131273165345,
                        "pitch": 0.39567965269088745,
                        "yaw": -77.81907653808594
                    }
                },
                "velocity": {
                    "x": 0.9963093996047974,
                    "y": -4.889971733093262,
                    "z": 0.037998683750629425
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.065224647521973,
                "transform": {
                    "location": {
                        "x": 216.01710510253906,
                        "y": 5625.185546875,
                        "z": 365.10162353515625
                    },
                    "rotation": {
                        "roll": 0.0018764520063996315,
                        "pitch": 0.45001381635665894,
                        "yaw": -81.91683197021484
                    }
                },
                "velocity": {
                    "x": 0.556352972984314,
                    "y": -4.026864051818848,
                    "z": 0.029832161962985992
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.22964993119239807,
        "expert_target_speed": 0,
        "target_point": [
            9.636116497719929,
            -0.4476294051753441
        ],
        "target_point_next": [
            22.836510894289415,
            -10.609358207830518
        ]
    },
    "300": {
        "acceleration": [
            -0.037451982498168945,
            0.2606773376464844,
            0.009785071015357971
        ],
        "angular_velocity": [
            0.004773314576596022,
            0.026678239926695824,
            -0.9236941337585449
        ],
        "forward_vector": [
            0.04694018140435219,
            -0.9988745450973511,
            0.006797499489039183
        ],
        "right_vector": [
            0.9988977313041687,
            0.0469399020075798,
            -0.00020068393496330827
        ],
        "location": [
            218.21046447753906,
            5602.6162109375,
            365.25482177734375
        ],
        "rotation": [
            0.011498608626425266,
            0.38947102427482605,
            -87.30947875976562
        ],
        "velocity": [
            0.1557081937789917,
            -3.504924774169922,
            0.025601577013731003
        ],
        "speed": 3.508381779994873,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.97713851928711,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.9774932861328,
                5579.994140625,
                365.492919921875
            ],
            "velocity": [
                -0.0009423380251973867,
                1.0924904017883819e-05,
                0.0014999143313616514
            ],
            "speed_kmh": 0.006377045435039236,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1253763735294342,
                "transform": {
                    "location": {
                        "x": 264.7354736328125,
                        "y": 5580.03857421875,
                        "z": 365.7589111328125
                    },
                    "rotation": {
                        "roll": 9.419566777069122e-05,
                        "pitch": -0.9302921891212463,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": -0.002059808699414134,
                    "y": 0.00010776100680232048,
                    "z": 0.1253594160079956
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.1598358154297,
                        "y": 5522.37158203125,
                        "z": 365.89013671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.105863571166992,
                "transform": {
                    "location": {
                        "x": 180.00038146972656,
                        "y": 5583.57666015625,
                        "z": 365.5877380371094
                    },
                    "rotation": {
                        "roll": 0.004682868719100952,
                        "pitch": -0.7413281798362732,
                        "yaw": 0.060136765241622925
                    }
                },
                "velocity": {
                    "x": 8.105188369750977,
                    "y": 0.005994552746415138,
                    "z": -0.1044459342956543
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.609066009521484,
                "transform": {
                    "location": {
                        "x": 174.3329620361328,
                        "y": 5586.81103515625,
                        "z": 365.6578369140625
                    },
                    "rotation": {
                        "roll": -0.006439208518713713,
                        "pitch": -0.7774325609207153,
                        "yaw": 0.29639190435409546
                    }
                },
                "velocity": {
                    "x": 5.608458518981934,
                    "y": 0.026428159326314926,
                    "z": -0.0782080590724945
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.143892288208008,
                "transform": {
                    "location": {
                        "x": 214.1571044921875,
                        "y": 5540.181640625,
                        "z": 365.7417907714844
                    },
                    "rotation": {
                        "roll": 0.0024880648124963045,
                        "pitch": -0.4045999050140381,
                        "yaw": 88.29686737060547
                    }
                },
                "velocity": {
                    "x": 0.15290799736976624,
                    "y": 5.141424655914307,
                    "z": -0.04470612481236458
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.158245086669922,
                "transform": {
                    "location": {
                        "x": 246.23960876464844,
                        "y": 5579.98876953125,
                        "z": 365.62445068359375
                    },
                    "rotation": {
                        "roll": 0.00018371919577475637,
                        "pitch": -0.5814812779426575,
                        "yaw": 179.9053497314453
                    }
                },
                "velocity": {
                    "x": -7.157949447631836,
                    "y": 0.011394585482776165,
                    "z": -0.06403099745512009
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.640300273895264,
                "transform": {
                    "location": {
                        "x": 214.6719512939453,
                        "y": 5557.4951171875,
                        "z": 365.5871887207031
                    },
                    "rotation": {
                        "roll": -0.0014038104563951492,
                        "pitch": -0.4669800102710724,
                        "yaw": 88.28507232666016
                    }
                },
                "velocity": {
                    "x": 0.19872233271598816,
                    "y": 6.637116432189941,
                    "z": -0.05275870859622955
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.170714378356934,
                "transform": {
                    "location": {
                        "x": 200.66757202148438,
                        "y": 5583.54443359375,
                        "z": 365.4519348144531
                    },
                    "rotation": {
                        "roll": 0.0009968572994694114,
                        "pitch": -0.04156852886080742,
                        "yaw": -0.15313720703125
                    }
                },
                "velocity": {
                    "x": 5.170696258544922,
                    "y": -0.013586229644715786,
                    "z": 0.0011297130258753896
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.15149450302124,
                "transform": {
                    "location": {
                        "x": 200.60459899902344,
                        "y": 5586.79541015625,
                        "z": 365.4903564453125
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.017416981980204582,
                        "yaw": -0.1394348293542862
                    }
                },
                "velocity": {
                    "x": 5.1514787673950195,
                    "y": -0.012571136467158794,
                    "z": 0.0016257762908935547
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0017714014975354075,
                "transform": {
                    "location": {
                        "x": 230.9774932861328,
                        "y": 5579.994140625,
                        "z": 365.492919921875
                    },
                    "rotation": {
                        "roll": 0.0005258359597064555,
                        "pitch": -0.14579038321971893,
                        "yaw": 178.16339111328125
                    }
                },
                "velocity": {
                    "x": -0.0009423380251973867,
                    "y": 1.0924904017883819e-05,
                    "z": 0.0014999143313616514
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.932982921600342,
                "transform": {
                    "location": {
                        "x": 215.13499450683594,
                        "y": 5573.12353515625,
                        "z": 365.4762268066406
                    },
                    "rotation": {
                        "roll": 0.021052297204732895,
                        "pitch": -0.3168046474456787,
                        "yaw": 88.4111557006836
                    }
                },
                "velocity": {
                    "x": 0.1648549735546112,
                    "y": 5.9305877685546875,
                    "z": -0.03520598262548447
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.088214874267578,
                "transform": {
                    "location": {
                        "x": 207.6385040283203,
                        "y": 5652.48486328125,
                        "z": 364.87994384765625
                    },
                    "rotation": {
                        "roll": -0.021270766854286194,
                        "pitch": -0.4484497010707855,
                        "yaw": 104.28758239746094
                    }
                },
                "velocity": {
                    "x": -2.0229642391204834,
                    "y": 7.830880165100098,
                    "z": -0.06434287875890732
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.5008392333984375,
                "transform": {
                    "location": {
                        "x": 213.3640594482422,
                        "y": 5640.765625,
                        "z": 364.98394775390625
                    },
                    "rotation": {
                        "roll": 0.0015252357115969062,
                        "pitch": 0.392496794462204,
                        "yaw": -78.12372589111328
                    }
                },
                "velocity": {
                    "x": 1.0953994989395142,
                    "y": -5.39050817489624,
                    "z": 0.041866566985845566
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.561817169189453,
                "transform": {
                    "location": {
                        "x": 216.16851806640625,
                        "y": 5624.09619140625,
                        "z": 365.1102600097656
                    },
                    "rotation": {
                        "roll": 0.0035935163032263517,
                        "pitch": 0.37466317415237427,
                        "yaw": -82.00514221191406
                    }
                },
                "velocity": {
                    "x": 0.6243959665298462,
                    "y": -4.518758773803711,
                    "z": 0.03355130925774574
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.23670321702957153,
        "expert_target_speed": 0,
        "target_point": [
            8.753116991985411,
            -0.43040712347858945
        ],
        "target_point_next": [
            21.970418404424485,
            -10.57013531788454
        ]
    },
    "305": {
        "acceleration": [
            -0.03180056810379028,
            0.27580738067626953,
            -0.010287091135978699
        ],
        "angular_velocity": [
            0.032623834908008575,
            0.017927350476384163,
            0.23754148185253143
        ],
        "forward_vector": [
            0.04549733176827431,
            -0.9989420175552368,
            0.006695577874779701
        ],
        "right_vector": [
            0.9989644885063171,
            0.0454968698322773,
            -0.0002213951520388946
        ],
        "location": [
            218.24867248535156,
            5601.74853515625,
            365.26092529296875
        ],
        "rotation": [
            0.012685292400419712,
            0.3836311995983124,
            -87.3922348022461
        ],
        "velocity": [
            0.1474078744649887,
            -3.4366567134857178,
            0.024896450340747833
        ],
        "speed": 3.4398166299674666,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.20608139038086,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.97811889648438,
                5579.994140625,
                365.4933776855469
            ],
            "velocity": [
                -0.0005166262853890657,
                -1.4849351828161161e-05,
                -0.0001863127399701625
            ],
            "speed_kmh": 0.0019778245983085407,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.13756443560123444,
                "transform": {
                    "location": {
                        "x": 264.7348327636719,
                        "y": 5580.03857421875,
                        "z": 365.811279296875
                    },
                    "rotation": {
                        "roll": 0.0004423876525834203,
                        "pitch": -0.9324641823768616,
                        "yaw": 179.8622589111328
                    }
                },
                "velocity": {
                    "x": -0.0022666798904538155,
                    "y": 6.909406511113048e-05,
                    "z": 0.13754574954509735
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.09890747070312,
                        "y": 5524.0009765625,
                        "z": 365.8757629394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.905812740325928,
                "transform": {
                    "location": {
                        "x": 182.02381896972656,
                        "y": 5583.57666015625,
                        "z": 365.5617370605469
                    },
                    "rotation": {
                        "roll": 0.005235124845057726,
                        "pitch": -0.7215889692306519,
                        "yaw": 0.012267332524061203
                    }
                },
                "velocity": {
                    "x": 7.9051513671875,
                    "y": -0.0026550169568508863,
                    "z": -0.10223061591386795
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.688528537750244,
                "transform": {
                    "location": {
                        "x": 175.87210083007812,
                        "y": 5586.81884765625,
                        "z": 365.6363220214844
                    },
                    "rotation": {
                        "roll": -0.005340575706213713,
                        "pitch": -0.7583627104759216,
                        "yaw": 0.25340408086776733
                    }
                },
                "velocity": {
                    "x": 6.687819480895996,
                    "y": 0.030569743365049362,
                    "z": -0.0924692153930664
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.430699825286865,
                "transform": {
                    "location": {
                        "x": 214.19061279296875,
                        "y": 5541.31689453125,
                        "z": 365.7342529296875
                    },
                    "rotation": {
                        "roll": -0.0010070757707580924,
                        "pitch": -0.7061732411384583,
                        "yaw": 88.30294799804688
                    }
                },
                "velocity": {
                    "x": 0.13021762669086456,
                    "y": 4.428631782531738,
                    "z": -0.03696293756365776
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.801971435546875,
                "transform": {
                    "location": {
                        "x": 244.4950714111328,
                        "y": 5579.9912109375,
                        "z": 365.6085510253906
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": -0.5237115621566772,
                        "yaw": 179.93154907226562
                    }
                },
                "velocity": {
                    "x": -6.801695346832275,
                    "y": 0.009450326673686504,
                    "z": -0.06057264283299446
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.1718831062316895,
                "transform": {
                    "location": {
                        "x": 214.71990966796875,
                        "y": 5559.09814453125,
                        "z": 365.5746154785156
                    },
                    "rotation": {
                        "roll": -0.0010070872958749533,
                        "pitch": -0.4753948152065277,
                        "yaw": 88.28558349609375
                    }
                },
                "velocity": {
                    "x": 0.1846550554037094,
                    "y": 6.168933391571045,
                    "z": -0.04804013669490814
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.091619491577148,
                "transform": {
                    "location": {
                        "x": 201.9375,
                        "y": 5583.541015625,
                        "z": 365.4527282714844
                    },
                    "rotation": {
                        "roll": 0.0007488947012461722,
                        "pitch": -0.028905358165502548,
                        "yaw": -0.1187133640050888
                    }
                },
                "velocity": {
                    "x": 5.091604232788086,
                    "y": -0.011909320950508118,
                    "z": 0.0038355349097400904
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.126951694488525,
                "transform": {
                    "location": {
                        "x": 201.8817901611328,
                        "y": 5586.79248046875,
                        "z": 365.4910888671875
                    },
                    "rotation": {
                        "roll": 0.0006740248645655811,
                        "pitch": 0.032211169600486755,
                        "yaw": -0.1398315280675888
                    }
                },
                "velocity": {
                    "x": 5.1269354820251465,
                    "y": -0.012521793134510517,
                    "z": 0.0029661941807717085
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005493957432918251,
                "transform": {
                    "location": {
                        "x": 230.97811889648438,
                        "y": 5579.994140625,
                        "z": 365.4933776855469
                    },
                    "rotation": {
                        "roll": 0.004153773188591003,
                        "pitch": -0.203949436545372,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -0.0005166262853890657,
                    "y": -1.4849351828161161e-05,
                    "z": -0.0001863127399701625
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.852385997772217,
                "transform": {
                    "location": {
                        "x": 215.18421936035156,
                        "y": 5574.916015625,
                        "z": 365.4664001464844
                    },
                    "rotation": {
                        "roll": -0.0470275841653347,
                        "pitch": -0.044956304132938385,
                        "yaw": 88.41656494140625
                    }
                },
                "velocity": {
                    "x": 0.21791194379329681,
                    "y": 7.849137306213379,
                    "z": -0.059366244822740555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019623756408691,
                "transform": {
                    "location": {
                        "x": 207.1190643310547,
                        "y": 5654.4296875,
                        "z": 364.86419677734375
                    },
                    "rotation": {
                        "roll": -0.0420837365090847,
                        "pitch": -0.451687216758728,
                        "yaw": 104.93323516845703
                    }
                },
                "velocity": {
                    "x": -2.1122119426727295,
                    "y": 7.736204624176025,
                    "z": -0.0637131780385971
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.686656951904297,
                "transform": {
                    "location": {
                        "x": 213.64898681640625,
                        "y": 5639.37158203125,
                        "z": 364.99468994140625
                    },
                    "rotation": {
                        "roll": 0.003204425098374486,
                        "pitch": 0.40331581234931946,
                        "yaw": -78.32450866699219
                    }
                },
                "velocity": {
                    "x": 1.1329841613769531,
                    "y": -5.572479248046875,
                    "z": 0.04349713400006294
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.855029821395874,
                "transform": {
                    "location": {
                        "x": 216.29702758789062,
                        "y": 5623.08154296875,
                        "z": 365.116943359375
                    },
                    "rotation": {
                        "roll": -0.008209221996366978,
                        "pitch": 0.464254766702652,
                        "yaw": -82.42655944824219
                    }
                },
                "velocity": {
                    "x": 0.4506644606590271,
                    "y": -3.8284828662872314,
                    "z": 0.029595354571938515
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.24574269354343414,
        "expert_target_speed": 0,
        "target_point": [
            7.885214967335231,
            -0.41643355501819274
        ],
        "target_point_next": [
            21.117174041510562,
            -10.537026598068781
        ]
    },
    "310": {
        "acceleration": [
            -0.062483251094818115,
            0.3380775451660156,
            -0.002837367355823517
        ],
        "angular_velocity": [
            0.024371260777115822,
            -0.022481756284832954,
            -1.3394296169281006
        ],
        "forward_vector": [
            0.04263024032115936,
            -0.9990689158439636,
            0.006625961512327194
        ],
        "right_vector": [
            0.9990909099578857,
            0.04262843355536461,
            -0.0004133481706958264
        ],
        "location": [
            218.28273010253906,
            5600.8994140625,
            365.2668762207031
        ],
        "rotation": [
            0.02368362620472908,
            0.37964239716529846,
            -87.55667114257812
        ],
        "velocity": [
            0.12514111399650574,
            -3.361027240753174,
            0.02505464479327202
        ],
        "speed": 3.3633561232044964,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.459365844726562,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.9783477783203,
                5579.994140625,
                365.4936218261719
            ],
            "velocity": [
                1.5525463822996244e-05,
                -1.3323384564500884e-06,
                -0.00014698129962198436
            ],
            "speed_kmh": 0.0005320979947176931,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 168.49124145507812,
                        "y": 5583.5205078125,
                        "z": 366.13128662109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7924794554710388,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9278681874275208,
                "transform": {
                    "location": {
                        "x": 264.6667785644531,
                        "y": 5580.0380859375,
                        "z": 365.8233947753906
                    },
                    "rotation": {
                        "roll": -0.0016174311749637127,
                        "pitch": -0.9086610078811646,
                        "yaw": 179.89077758789062
                    }
                },
                "velocity": {
                    "x": -0.9277418851852417,
                    "y": -0.013828065246343613,
                    "z": -0.006568107288330793
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.03062438964844,
                        "y": 5526.69091796875,
                        "z": 365.8524169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.373954772949219,
                "transform": {
                    "location": {
                        "x": 183.921875,
                        "y": 5583.576171875,
                        "z": 365.5386962890625
                    },
                    "rotation": {
                        "roll": 0.005639391019940376,
                        "pitch": -0.7764285206794739,
                        "yaw": -0.038299560546875
                    }
                },
                "velocity": {
                    "x": 7.373492240905762,
                    "y": -0.006622581742703915,
                    "z": -0.0823189988732338
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.740453243255615,
                "transform": {
                    "location": {
                        "x": 177.69483947753906,
                        "y": 5586.82470703125,
                        "z": 365.6111145019531
                    },
                    "rotation": {
                        "roll": -0.00299072265625,
                        "pitch": -0.7570512890815735,
                        "yaw": 0.17247135937213898
                    }
                },
                "velocity": {
                    "x": 7.739694595336914,
                    "y": 0.014436373487114906,
                    "z": -0.10738316923379898
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.360207557678223,
                "transform": {
                    "location": {
                        "x": 214.22781372070312,
                        "y": 5542.5869140625,
                        "z": 365.7208557128906
                    },
                    "rotation": {
                        "roll": -0.0007324544712901115,
                        "pitch": -0.3016279637813568,
                        "yaw": 88.31342315673828
                    }
                },
                "velocity": {
                    "x": 0.15662771463394165,
                    "y": 5.357755184173584,
                    "z": -0.041885584592819214
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.75424337387085,
                "transform": {
                    "location": {
                        "x": 242.93624877929688,
                        "y": 5579.9951171875,
                        "z": 365.5963439941406
                    },
                    "rotation": {
                        "roll": -0.001739501953125,
                        "pitch": -0.6310957670211792,
                        "yaw": -179.98388671875
                    }
                },
                "velocity": {
                    "x": -4.75408411026001,
                    "y": 0.00884037371724844,
                    "z": -0.03788180276751518
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.88278341293335,
                "transform": {
                    "location": {
                        "x": 214.76483154296875,
                        "y": 5560.5986328125,
                        "z": 365.5627746582031
                    },
                    "rotation": {
                        "roll": -0.0004883219953626394,
                        "pitch": -0.4763168692588806,
                        "yaw": 88.2858657836914
                    }
                },
                "velocity": {
                    "x": 0.17589683830738068,
                    "y": 5.879977703094482,
                    "z": -0.045436158776283264
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0692224502563477,
                "transform": {
                    "location": {
                        "x": 202.955078125,
                        "y": 5583.55029296875,
                        "z": 365.45562744140625
                    },
                    "rotation": {
                        "roll": -0.0963134691119194,
                        "pitch": -0.6886333227157593,
                        "yaw": -1.2060850858688354
                    }
                },
                "velocity": {
                    "x": 2.06666898727417,
                    "y": 0.10273825377225876,
                    "z": 0.00230375281535089
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.8474106788635254,
                "transform": {
                    "location": {
                        "x": 203.04241943359375,
                        "y": 5586.7900390625,
                        "z": 365.49237060546875
                    },
                    "rotation": {
                        "roll": 0.0002545108727645129,
                        "pitch": -0.06218886747956276,
                        "yaw": -0.1401977688074112
                    }
                },
                "velocity": {
                    "x": 3.847398281097412,
                    "y": -0.009479200467467308,
                    "z": 0.0024028397165238857
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00014780499623157084,
                "transform": {
                    "location": {
                        "x": 230.9783477783203,
                        "y": 5579.994140625,
                        "z": 365.4936218261719
                    },
                    "rotation": {
                        "roll": 0.004856382962316275,
                        "pitch": -0.23126336932182312,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": 1.5525463822996244e-05,
                    "y": -1.3323384564500884e-06,
                    "z": -0.00014698129962198436
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.004233360290527,
                "transform": {
                    "location": {
                        "x": 215.23663330078125,
                        "y": 5577.02197265625,
                        "z": 365.4513854980469
                    },
                    "rotation": {
                        "roll": -0.0820007175207138,
                        "pitch": -0.2891218960285187,
                        "yaw": 88.59868621826172
                    }
                },
                "velocity": {
                    "x": 0.2184252142906189,
                    "y": 9.001436233520508,
                    "z": -0.0516284741461277
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.089147567749023,
                "transform": {
                    "location": {
                        "x": 206.58155822753906,
                        "y": 5656.37060546875,
                        "z": 364.8483581542969
                    },
                    "rotation": {
                        "roll": -0.026000943034887314,
                        "pitch": -0.45349037647247314,
                        "yaw": 105.38911437988281
                    }
                },
                "velocity": {
                    "x": -2.175668239593506,
                    "y": 7.790811061859131,
                    "z": -0.06351656466722488
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.680338382720947,
                "transform": {
                    "location": {
                        "x": 213.98390197753906,
                        "y": 5637.66259765625,
                        "z": 365.0089111328125
                    },
                    "rotation": {
                        "roll": -0.02880859561264515,
                        "pitch": 0.28865060210227966,
                        "yaw": -78.88665771484375
                    }
                },
                "velocity": {
                    "x": 1.384932518005371,
                    "y": -7.554210662841797,
                    "z": 0.05880998447537422
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.983750820159912,
                "transform": {
                    "location": {
                        "x": 216.41709899902344,
                        "y": 5622.0849609375,
                        "z": 365.1246337890625
                    },
                    "rotation": {
                        "roll": -0.00015257600171025842,
                        "pitch": 0.41403236985206604,
                        "yaw": -82.7608871459961
                    }
                },
                "velocity": {
                    "x": 0.4648137092590332,
                    "y": -3.956435203552246,
                    "z": 0.02897747978568077
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.25494739413261414,
        "expert_target_speed": 10.0,
        "target_point": [
            20.297517491769803,
            -10.474224929662107
        ],
        "target_point_next": [
            18.000924872154513,
            -61.42248416397619
        ]
    },
    "315": {
        "acceleration": [
            -0.086955726146698,
            0.9609889984130859,
            -0.018150918185710907
        ],
        "angular_velocity": [
            0.17769791185855865,
            0.03771093487739563,
            -0.21808761358261108
        ],
        "forward_vector": [
            0.03918670117855072,
            -0.9992119073867798,
            0.0063151889480650425
        ],
        "right_vector": [
            0.9992318749427795,
            0.039184581488370895,
            -0.00045928958570584655
        ],
        "location": [
            218.31210327148438,
            5600.07373046875,
            365.2727966308594
        ],
        "rotation": [
            0.026315882802009583,
            0.3618360757827759,
            -87.754150390625
        ],
        "velocity": [
            0.10365495085716248,
            -3.217294216156006,
            0.023187750950455666
        ],
        "speed": 3.218963563345831,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.74174690246582,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                1.9810609956039116e-05,
                -1.6575882909819484e-05,
                -0.00020671098900493234
            ],
            "speed_kmh": 0.0007499470812321496,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4192522764205933,
                "transform": {
                    "location": {
                        "x": 168.490234375,
                        "y": 5583.5205078125,
                        "z": 365.7333984375
                    },
                    "rotation": {
                        "roll": 0.0009856323013082147,
                        "pitch": -0.7953823208808899,
                        "yaw": -0.137603759765625
                    }
                },
                "velocity": {
                    "x": -0.01978343166410923,
                    "y": 0.0001554840273456648,
                    "z": -1.419114351272583
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6658802032470703,
                "transform": {
                    "location": {
                        "x": 264.32366943359375,
                        "y": 5580.03466796875,
                        "z": 365.8174133300781
                    },
                    "rotation": {
                        "roll": -0.0018310548039153218,
                        "pitch": -0.9032583236694336,
                        "yaw": 179.99282836914062
                    }
                },
                "velocity": {
                    "x": -1.6655700206756592,
                    "y": -0.011574290692806244,
                    "z": -0.029991663992404938
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 213.99609375,
                        "y": 5528.4833984375,
                        "z": 365.83685302734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.48891857266426086,
                        "yaw": 89.43575286865234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.308415412902832,
                "transform": {
                    "location": {
                        "x": 185.75491333007812,
                        "y": 5583.57373046875,
                        "z": 365.5199890136719
                    },
                    "rotation": {
                        "roll": 0.0009102277108468115,
                        "pitch": -0.592225193977356,
                        "yaw": -0.052947986871004105
                    }
                },
                "velocity": {
                    "x": 7.308051586151123,
                    "y": -0.00780407153069973,
                    "z": -0.07250785827636719
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.74201488494873,
                "transform": {
                    "location": {
                        "x": 179.7567901611328,
                        "y": 5586.82861328125,
                        "z": 365.5827941894531
                    },
                    "rotation": {
                        "roll": -0.0015258786734193563,
                        "pitch": -0.7426464557647705,
                        "yaw": 0.048926398158073425
                    }
                },
                "velocity": {
                    "x": 8.741283416748047,
                    "y": 0.006549271289259195,
                    "z": -0.11290942132472992
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.895359992980957,
                "transform": {
                    "location": {
                        "x": 214.2715606689453,
                        "y": 5544.0703125,
                        "z": 365.7076110839844
                    },
                    "rotation": {
                        "roll": -0.0007629363681189716,
                        "pitch": -0.15881554782390594,
                        "yaw": 88.34197235107422
                    }
                },
                "velocity": {
                    "x": 0.20155072212219238,
                    "y": 6.8921732902526855,
                    "z": -0.05757812783122063
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015222172951325774,
                "transform": {
                    "location": {
                        "x": 242.4903106689453,
                        "y": 5579.9921875,
                        "z": 365.5951232910156
                    },
                    "rotation": {
                        "roll": -0.0025939936749637127,
                        "pitch": -0.9351416230201721,
                        "yaw": 179.72238159179688
                    }
                },
                "velocity": {
                    "x": 0.0013320980360731483,
                    "y": -0.00040364477899856865,
                    "z": 0.000616223260294646
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.603348255157471,
                "transform": {
                    "location": {
                        "x": 214.80772399902344,
                        "y": 5562.03173828125,
                        "z": 365.5515441894531
                    },
                    "rotation": {
                        "roll": -0.0003967511875089258,
                        "pitch": -0.4684075117111206,
                        "yaw": 88.28486633300781
                    }
                },
                "velocity": {
                    "x": 0.16769756376743317,
                    "y": 5.600662708282471,
                    "z": -0.04437356814742088
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.01008623093366623,
                "transform": {
                    "location": {
                        "x": 203.03538513183594,
                        "y": 5583.56103515625,
                        "z": 365.4569091796875
                    },
                    "rotation": {
                        "roll": 0.0767384022474289,
                        "pitch": -1.0031088590621948,
                        "yaw": -1.7849730253219604
                    }
                },
                "velocity": {
                    "x": -0.00992604624480009,
                    "y": -0.000927091867197305,
                    "z": 0.0015317165525630116
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.363093137741089,
                "transform": {
                    "location": {
                        "x": 203.79905700683594,
                        "y": 5586.7880859375,
                        "z": 365.4933776855469
                    },
                    "rotation": {
                        "roll": 0.0007464466616511345,
                        "pitch": -0.11264347285032272,
                        "yaw": -0.1450500339269638
                    }
                },
                "velocity": {
                    "x": 2.3630850315093994,
                    "y": -0.0058198533952236176,
                    "z": 0.0020808600820600986
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00020831864094361663,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": 1.9810609956039116e-05,
                    "y": -1.6575882909819484e-05,
                    "z": -0.00020671098900493234
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.264100074768066,
                "transform": {
                    "location": {
                        "x": 215.29412841796875,
                        "y": 5579.435546875,
                        "z": 365.43084716796875
                    },
                    "rotation": {
                        "roll": -0.0807189792394638,
                        "pitch": -0.33838120102882385,
                        "yaw": 88.6605224609375
                    }
                },
                "velocity": {
                    "x": 0.23783884942531586,
                    "y": 10.260878562927246,
                    "z": -0.09772728383541107
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019513130187988,
                "transform": {
                    "location": {
                        "x": 206.0352325439453,
                        "y": 5658.30859375,
                        "z": 364.8323669433594
                    },
                    "rotation": {
                        "roll": -0.035156264901161194,
                        "pitch": -0.460300087928772,
                        "yaw": 105.65187072753906
                    }
                },
                "velocity": {
                    "x": -2.2265145778656006,
                    "y": 7.703970909118652,
                    "z": -0.06367228925228119
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.043276786804199,
                "transform": {
                    "location": {
                        "x": 214.32382202148438,
                        "y": 5635.82421875,
                        "z": 365.02178955078125
                    },
                    "rotation": {
                        "roll": -0.0061950781382620335,
                        "pitch": 0.4492010176181793,
                        "yaw": -79.44117736816406
                    }
                },
                "velocity": {
                    "x": 1.2588263750076294,
                    "y": -6.92966365814209,
                    "z": 0.053514860570430756
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.635472297668457,
                "transform": {
                    "location": {
                        "x": 216.5321044921875,
                        "y": 5621.1201171875,
                        "z": 365.13140869140625
                    },
                    "rotation": {
                        "roll": 0.0022613797336816788,
                        "pitch": 0.44035592675209045,
                        "yaw": -82.97518157958984
                    }
                },
                "velocity": {
                    "x": 0.42303183674812317,
                    "y": -3.6106808185577393,
                    "z": 0.02620636858046055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2589384913444519,
        "expert_target_speed": 10.0,
        "target_point": [
            19.50730458339342,
            -10.4011857958843
        ],
        "target_point_next": [
            17.38636118032317,
            -61.35705940971134
        ]
    },
    "320": {
        "acceleration": [
            -0.1095418632030487,
            2.483487129211426,
            -0.0216757133603096
        ],
        "angular_velocity": [
            0.4998372793197632,
            -0.02236972190439701,
            -1.5629453659057617
        ],
        "forward_vector": [
            0.03543045371770859,
            -0.9993612766265869,
            0.004655105527490377
        ],
        "right_vector": [
            0.999372124671936,
            0.035429056733846664,
            -0.0003817400138359517
        ],
        "location": [
            218.33546447753906,
            5599.32421875,
            365.27838134765625
        ],
        "rotation": [
            0.021872328594326973,
            0.26671886444091797,
            -87.96953582763672
        ],
        "velocity": [
            0.0775173082947731,
            -2.7367947101593018,
            0.020000189542770386
        ],
        "speed": 2.7378922949307563,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.098459243774414,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -1.752514435793273e-05,
                -8.288526260002982e-06,
                -0.00014154642121866345
            ],
            "speed_kmh": 0.0005143242240740175,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.25252053141593933,
                "transform": {
                    "location": {
                        "x": 168.48928833007812,
                        "y": 5583.5205078125,
                        "z": 365.6980285644531
                    },
                    "rotation": {
                        "roll": 0.0010755162220448256,
                        "pitch": -0.7978479862213135,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0035507637076079845,
                    "y": 6.30760841886513e-05,
                    "z": 0.25249555706977844
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.268113374710083,
                "transform": {
                    "location": {
                        "x": 263.8232116699219,
                        "y": 5580.0322265625,
                        "z": 365.8089904785156
                    },
                    "rotation": {
                        "roll": -0.0029602041468024254,
                        "pitch": -0.9126225113868713,
                        "yaw": -179.88670349121094
                    }
                },
                "velocity": {
                    "x": -2.267749071121216,
                    "y": -0.015832040458917618,
                    "z": -0.037433646619319916
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.470646858215332,
                "transform": {
                    "location": {
                        "x": 213.99171447753906,
                        "y": 5530.3544921875,
                        "z": 365.820068359375
                    },
                    "rotation": {
                        "roll": 0.003179971594363451,
                        "pitch": -0.49475154280662537,
                        "yaw": 89.43346405029297
                    }
                },
                "velocity": {
                    "x": 0.0019499148475006223,
                    "y": 7.470163345336914,
                    "z": -0.08497098088264465
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.996745586395264,
                "transform": {
                    "location": {
                        "x": 187.55218505859375,
                        "y": 5583.5712890625,
                        "z": 365.5027770996094
                    },
                    "rotation": {
                        "roll": 0.0010267302859574556,
                        "pitch": -0.5281648635864258,
                        "yaw": -0.08172607421875
                    }
                },
                "velocity": {
                    "x": 6.99649715423584,
                    "y": -0.011616023257374763,
                    "z": -0.057820532470941544
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.10268783569336,
                "transform": {
                    "location": {
                        "x": 181.86358642578125,
                        "y": 5586.830078125,
                        "z": 365.5560607910156
                    },
                    "rotation": {
                        "roll": 0.0017945431172847748,
                        "pitch": -0.7080378532409668,
                        "yaw": -0.02362060360610485
                    }
                },
                "velocity": {
                    "x": 8.102043151855469,
                    "y": -0.0022982964292168617,
                    "z": -0.10219744592905045
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.223597526550293,
                "transform": {
                    "location": {
                        "x": 214.3282012939453,
                        "y": 5545.99072265625,
                        "z": 365.69146728515625
                    },
                    "rotation": {
                        "roll": -0.0017089921748265624,
                        "pitch": -0.12805238366127014,
                        "yaw": 88.39283752441406
                    }
                },
                "velocity": {
                    "x": 0.24274194240570068,
                    "y": 8.219734191894531,
                    "z": -0.06781511753797531
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3448715209960938,
                "transform": {
                    "location": {
                        "x": 242.28062438964844,
                        "y": 5579.9921875,
                        "z": 365.5897521972656
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.5016432404518127,
                        "yaw": 179.69180297851562
                    }
                },
                "velocity": {
                    "x": -1.3448237180709839,
                    "y": 0.0033004307188093662,
                    "z": -0.010849065147340298
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.381026268005371,
                "transform": {
                    "location": {
                        "x": 214.84898376464844,
                        "y": 5563.4052734375,
                        "z": 365.5406799316406
                    },
                    "rotation": {
                        "roll": 0.0008487594895996153,
                        "pitch": -0.46951401233673096,
                        "yaw": 88.28406524658203
                    }
                },
                "velocity": {
                    "x": 0.1624133139848709,
                    "y": 5.378409385681152,
                    "z": -0.04216741770505905
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00585483992472291,
                "transform": {
                    "location": {
                        "x": 203.03961181640625,
                        "y": 5583.56103515625,
                        "z": 365.45458984375
                    },
                    "rotation": {
                        "roll": 0.032162800431251526,
                        "pitch": -0.35332566499710083,
                        "yaw": -1.783996343612671
                    }
                },
                "velocity": {
                    "x": -0.005571199581027031,
                    "y": -0.0009480329463258386,
                    "z": 0.0015303988475352526
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0020490847527980804,
                "transform": {
                    "location": {
                        "x": 203.9598388671875,
                        "y": 5586.78759765625,
                        "z": 365.49407958984375
                    },
                    "rotation": {
                        "roll": 2.7923035304411314e-05,
                        "pitch": -0.18660758435726166,
                        "yaw": -0.201934814453125
                    }
                },
                "velocity": {
                    "x": -0.0012668661074712873,
                    "y": 5.211021561990492e-05,
                    "z": 0.0016096840845420957
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000142867851536721,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.752514435793273e-05,
                    "y": -8.288526260002982e-06,
                    "z": -0.00014154642121866345
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.094606399536133,
                "transform": {
                    "location": {
                        "x": 215.34671020507812,
                        "y": 5582.109375,
                        "z": 365.4061584472656
                    },
                    "rotation": {
                        "roll": -0.037689197808504105,
                        "pitch": -0.37289416790008545,
                        "yaw": 89.00946044921875
                    }
                },
                "velocity": {
                    "x": 0.18572770059108734,
                    "y": 11.092595100402832,
                    "z": -0.10065124928951263
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08721923828125,
                "transform": {
                    "location": {
                        "x": 205.46437072753906,
                        "y": 5660.2392578125,
                        "z": 364.8162536621094
                    },
                    "rotation": {
                        "roll": -0.03692624717950821,
                        "pitch": -0.464999258518219,
                        "yaw": 106.40477752685547
                    }
                },
                "velocity": {
                    "x": -2.3206472396850586,
                    "y": 7.746834754943848,
                    "z": -0.06532019376754761
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.666865348815918,
                "transform": {
                    "location": {
                        "x": 214.61265563964844,
                        "y": 5634.23876953125,
                        "z": 365.0332336425781
                    },
                    "rotation": {
                        "roll": 0.001956378109753132,
                        "pitch": 0.5475557446479797,
                        "yaw": -79.63446807861328
                    }
                },
                "velocity": {
                    "x": 1.0078943967819214,
                    "y": -5.5763468742370605,
                    "z": 0.04319269210100174
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.787346363067627,
                "transform": {
                    "location": {
                        "x": 216.63882446289062,
                        "y": 5620.216796875,
                        "z": 365.1383056640625
                    },
                    "rotation": {
                        "roll": 0.003685485105961561,
                        "pitch": 0.40334996581077576,
                        "yaw": -83.09251403808594
                    }
                },
                "velocity": {
                    "x": 0.4408278167247772,
                    "y": -3.7615132331848145,
                    "z": 0.026100100949406624
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2522607445716858,
        "expert_target_speed": 10.0,
        "target_point": [
            18.79639866842801,
            -10.324571116279358
        ],
        "target_point_next": [
            16.867026620144046,
            -61.288057851064714
        ]
    },
    "325": {
        "acceleration": [
            -0.0709351897239685,
            1.994619369506836,
            -0.02085912972688675
        ],
        "angular_velocity": [
            0.09604530781507492,
            -0.003923673182725906,
            0.40882501006126404
        ],
        "forward_vector": [
            0.03267007693648338,
            -0.9994611144065857,
            0.003175133839249611
        ],
        "right_vector": [
            0.9994661211967468,
            0.03266940638422966,
            -0.0002612425887491554
        ],
        "location": [
            218.35226440429688,
            5598.7216796875,
            365.2829284667969
        ],
        "rotation": [
            0.014968173578381538,
            0.1819220781326294,
            -88.12779998779297
        ],
        "velocity": [
            0.05509793758392334,
            -2.140331745147705,
            0.01584809273481369
        ],
        "speed": 2.14104081278546,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.587190628051758,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -8.16954252513824e-06,
                5.466078619065229e-06,
                -0.0002491006744094193
            ],
            "speed_kmh": 0.0008974603278116004,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.061375875025987625,
                "transform": {
                    "location": {
                        "x": 168.48928833007812,
                        "y": 5583.5205078125,
                        "z": 365.7370910644531
                    },
                    "rotation": {
                        "roll": 0.0016054416773840785,
                        "pitch": -0.7975406646728516,
                        "yaw": -0.1377258151769638
                    }
                },
                "velocity": {
                    "x": 0.0008864233968779445,
                    "y": -0.0001458312472095713,
                    "z": 0.06136929988861084
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8342366218566895,
                "transform": {
                    "location": {
                        "x": 263.1829528808594,
                        "y": 5580.02880859375,
                        "z": 365.7985534667969
                    },
                    "rotation": {
                        "roll": -0.005767822265625,
                        "pitch": -0.9143983721733093,
                        "yaw": -179.79544067382812
                    }
                },
                "velocity": {
                    "x": -2.8338067531585693,
                    "y": -0.02001429907977581,
                    "z": -0.04512569680809975
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.677465438842773,
                "transform": {
                    "location": {
                        "x": 214.0028076171875,
                        "y": 5532.248046875,
                        "z": 365.79833984375
                    },
                    "rotation": {
                        "roll": 0.008992326445877552,
                        "pitch": -0.4906056225299835,
                        "yaw": 89.33452606201172
                    }
                },
                "velocity": {
                    "x": 0.07943970710039139,
                    "y": 7.676670551300049,
                    "z": -0.0767638236284256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.8257744312286377,
                "transform": {
                    "location": {
                        "x": 188.93109130859375,
                        "y": 5583.56884765625,
                        "z": 365.4917907714844
                    },
                    "rotation": {
                        "roll": 0.00010001585178542882,
                        "pitch": -1.1328072547912598,
                        "yaw": -0.0888671800494194
                    }
                },
                "velocity": {
                    "x": 2.8256959915161133,
                    "y": -0.004816991742700338,
                    "z": -0.020498160272836685
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.813827991485596,
                "transform": {
                    "location": {
                        "x": 183.83834838867188,
                        "y": 5586.8291015625,
                        "z": 365.5320739746094
                    },
                    "rotation": {
                        "roll": 0.0012901830486953259,
                        "pitch": -0.69329833984375,
                        "yaw": -0.074066162109375
                    }
                },
                "velocity": {
                    "x": 7.813313007354736,
                    "y": -0.008692801930010319,
                    "z": -0.08928657323122025
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.41893482208252,
                "transform": {
                    "location": {
                        "x": 214.39132690429688,
                        "y": 5548.1337890625,
                        "z": 365.6759338378906
                    },
                    "rotation": {
                        "roll": -0.0035400683991611004,
                        "pitch": -0.35918596386909485,
                        "yaw": 88.41096496582031
                    }
                },
                "velocity": {
                    "x": 0.24643929302692413,
                    "y": 8.415054321289062,
                    "z": -0.06779088824987411
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1770362854003906,
                "transform": {
                    "location": {
                        "x": 241.83538818359375,
                        "y": 5579.99365234375,
                        "z": 365.5852966308594
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.40273526310920715,
                        "yaw": 179.7410430908203
                    }
                },
                "velocity": {
                    "x": -2.176952838897705,
                    "y": 0.005211731884628534,
                    "z": -0.01833445578813553
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.984120845794678,
                "transform": {
                    "location": {
                        "x": 214.88772583007812,
                        "y": 5564.69677734375,
                        "z": 365.5306091308594
                    },
                    "rotation": {
                        "roll": -0.0003356779052410275,
                        "pitch": -0.4734208881855011,
                        "yaw": 88.28337860107422
                    }
                },
                "velocity": {
                    "x": 0.14943258464336395,
                    "y": 4.981725215911865,
                    "z": -0.03931088373064995
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0023790805134922266,
                "transform": {
                    "location": {
                        "x": 203.04156494140625,
                        "y": 5583.5615234375,
                        "z": 365.45367431640625
                    },
                    "rotation": {
                        "roll": 0.011924243532121181,
                        "pitch": -0.08899053186178207,
                        "yaw": -1.7837525606155396
                    }
                },
                "velocity": {
                    "x": -0.001921914634294808,
                    "y": -0.0002793397579807788,
                    "z": 0.0013741316506639123
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0018061797600239515,
                "transform": {
                    "location": {
                        "x": 203.9610137939453,
                        "y": 5586.78759765625,
                        "z": 365.4926452636719
                    },
                    "rotation": {
                        "roll": 0.00011400732910260558,
                        "pitch": -0.014678075909614563,
                        "yaw": -0.2019348293542862
                    }
                },
                "velocity": {
                    "x": -0.0004220614500809461,
                    "y": -9.32237526285462e-06,
                    "z": 0.0017561499262228608
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002492945350240916,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -8.16954252513824e-06,
                    "y": 5.466078619065229e-06,
                    "z": -0.0002491006744094193
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.41524887084961,
                "transform": {
                    "location": {
                        "x": 215.39132690429688,
                        "y": 5585.07177734375,
                        "z": 365.38189697265625
                    },
                    "rotation": {
                        "roll": -0.0171813927590847,
                        "pitch": -0.22677592933177948,
                        "yaw": 89.2070541381836
                    }
                },
                "velocity": {
                    "x": 0.1744387447834015,
                    "y": 12.41364574432373,
                    "z": -0.09685701876878738
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.022705078125,
                "transform": {
                    "location": {
                        "x": 204.88186645507812,
                        "y": 5662.1669921875,
                        "z": 364.7999572753906
                    },
                    "rotation": {
                        "roll": -0.020233141258358955,
                        "pitch": -0.47070929408073425,
                        "yaw": 106.70291900634766
                    }
                },
                "velocity": {
                    "x": -2.3335957527160645,
                    "y": 7.675531387329102,
                    "z": -0.06592230498790741
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.25995445251464844,
                "transform": {
                    "location": {
                        "x": 214.74241638183594,
                        "y": 5633.5166015625,
                        "z": 365.03570556640625
                    },
                    "rotation": {
                        "roll": 0.005184700712561607,
                        "pitch": 0.881838858127594,
                        "yaw": -79.79520416259766
                    }
                },
                "velocity": {
                    "x": 0.047596581280231476,
                    "y": -0.25555548071861267,
                    "z": 0.0015133189735934138
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.520299196243286,
                "transform": {
                    "location": {
                        "x": 216.74757385253906,
                        "y": 5619.29443359375,
                        "z": 365.1446838378906
                    },
                    "rotation": {
                        "roll": 0.004317303188145161,
                        "pitch": 0.42119041085243225,
                        "yaw": -83.18172454833984
                    }
                },
                "velocity": {
                    "x": 0.40910619497299194,
                    "y": -3.4963555335998535,
                    "z": 0.025234755128622055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2564125657081604,
        "expert_target_speed": 10.0,
        "target_point": [
            18.222062288791033,
            -10.269749119821252
        ],
        "target_point_next": [
            16.433384951819335,
            -61.23836779888245
        ]
    },
    "330": {
        "acceleration": [
            0.00838741660118103,
            0.654289722442627,
            0.006170663982629776
        ],
        "angular_velocity": [
            -0.3675462603569031,
            -0.07154031842947006,
            -1.3891146183013916
        ],
        "forward_vector": [
            0.030364688485860825,
            -0.9995310306549072,
            0.00396739412099123
        ],
        "right_vector": [
            0.9995388984680176,
            0.03036431409418583,
            -0.00015459349378943443
        ],
        "location": [
            218.364990234375,
            5598.23193359375,
            365.2861633300781
        ],
        "rotation": [
            0.008857624605298042,
            0.2273155152797699,
            -88.25994873046875
        ],
        "velocity": [
            0.04554213583469391,
            -1.8431124687194824,
            0.013471679762005806
        ],
        "speed": 1.8436750414554108,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.17555046081543,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -5.709621746063931e-06,
                -1.6338424757122993e-05,
                -0.00018411962082609534
            ],
            "speed_kmh": 0.0006657526114527487,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.074327230453491,
                "transform": {
                    "location": {
                        "x": 168.49867248535156,
                        "y": 5586.7705078125,
                        "z": 365.8312072753906
                    },
                    "rotation": {
                        "roll": 0.0003655553737189621,
                        "pitch": -0.7938796877861023,
                        "yaw": -0.1376952975988388
                    }
                },
                "velocity": {
                    "x": -0.027801642194390297,
                    "y": 9.534801938571036e-05,
                    "z": -2.074140787124634
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.266073226928711,
                "transform": {
                    "location": {
                        "x": 168.810546875,
                        "y": 5583.5224609375,
                        "z": 365.7365417480469
                    },
                    "rotation": {
                        "roll": -0.0032653806265443563,
                        "pitch": -0.7523794174194336,
                        "yaw": 0.010399634018540382
                    }
                },
                "velocity": {
                    "x": 2.2657015323638916,
                    "y": 0.02407844550907612,
                    "z": -0.03323095664381981
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.489996910095215,
                "transform": {
                    "location": {
                        "x": 262.3919372558594,
                        "y": 5580.0244140625,
                        "z": 365.7861328125
                    },
                    "rotation": {
                        "roll": -0.007263182196766138,
                        "pitch": -0.892487108707428,
                        "yaw": -179.71511840820312
                    }
                },
                "velocity": {
                    "x": -3.4895286560058594,
                    "y": -0.025605978444218636,
                    "z": -0.051109544932842255
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.442960739135742,
                "transform": {
                    "location": {
                        "x": 214.0261688232422,
                        "y": 5534.140625,
                        "z": 365.7812805175781
                    },
                    "rotation": {
                        "roll": 0.005977270659059286,
                        "pitch": -0.486206978559494,
                        "yaw": 89.13741302490234
                    }
                },
                "velocity": {
                    "x": 0.12859949469566345,
                    "y": 7.441578388214111,
                    "z": -0.06353821605443954
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8404973149299622,
                "transform": {
                    "location": {
                        "x": 189.12164306640625,
                        "y": 5583.56884765625,
                        "z": 365.4909362792969
                    },
                    "rotation": {
                        "roll": 0.00034281215630471706,
                        "pitch": -0.9443350434303284,
                        "yaw": -0.07104489952325821
                    }
                },
                "velocity": {
                    "x": 0.8404901623725891,
                    "y": -0.0012551413383334875,
                    "z": -0.0032343959901481867
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.3084259033203125,
                "transform": {
                    "location": {
                        "x": 185.57366943359375,
                        "y": 5586.8271484375,
                        "z": 365.5145568847656
                    },
                    "rotation": {
                        "roll": 0.0020517322700470686,
                        "pitch": -0.6101680994033813,
                        "yaw": -0.09426877647638321
                    }
                },
                "velocity": {
                    "x": 6.308146953582764,
                    "y": -0.009964519180357456,
                    "z": -0.05850851908326149
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.2008562088012695,
                "transform": {
                    "location": {
                        "x": 214.44772338867188,
                        "y": 5549.98046875,
                        "z": 365.66650390625
                    },
                    "rotation": {
                        "roll": -0.0010986054548993707,
                        "pitch": -1.014829397201538,
                        "yaw": 88.63459777832031
                    }
                },
                "velocity": {
                    "x": 0.16164827346801758,
                    "y": 5.198174476623535,
                    "z": -0.04191378876566887
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005279838223941624,
                "transform": {
                    "location": {
                        "x": 241.51475524902344,
                        "y": 5579.99609375,
                        "z": 365.5849609375
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": -0.643492579460144,
                        "yaw": 179.89048767089844
                    }
                },
                "velocity": {
                    "x": -0.00038751878309994936,
                    "y": 1.6444420907646418e-05,
                    "z": 0.00035822580684907734
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.886692523956299,
                "transform": {
                    "location": {
                        "x": 214.9246063232422,
                        "y": 5565.9287109375,
                        "z": 365.5208435058594
                    },
                    "rotation": {
                        "roll": -0.00033570421510376036,
                        "pitch": -0.4661194086074829,
                        "yaw": 88.28205108642578
                    }
                },
                "velocity": {
                    "x": 0.14644083380699158,
                    "y": 4.884350299835205,
                    "z": -0.03794219717383385
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005909257452003658,
                "transform": {
                    "location": {
                        "x": 203.04226684570312,
                        "y": 5583.5615234375,
                        "z": 365.4533996582031
                    },
                    "rotation": {
                        "roll": 0.004723737481981516,
                        "pitch": -0.01598947122693062,
                        "yaw": -1.783600091934204
                    }
                },
                "velocity": {
                    "x": -0.0005719678592868149,
                    "y": -0.00010986254346789792,
                    "z": -9.988094097934663e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011735218577086926,
                "transform": {
                    "location": {
                        "x": 203.96131896972656,
                        "y": 5586.78759765625,
                        "z": 365.49237060546875
                    },
                    "rotation": {
                        "roll": 0.0002070511836791411,
                        "pitch": 0.021351169794797897,
                        "yaw": -0.2019348293542862
                    }
                },
                "velocity": {
                    "x": -0.00013849549577571452,
                    "y": 5.181304004509002e-05,
                    "z": 0.0011641683522611856
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00018493126844987273,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -5.709621746063931e-06,
                    "y": -1.6338424757122993e-05,
                    "z": -0.00018411962082609534
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.381220817565918,
                "transform": {
                    "location": {
                        "x": 215.42030334472656,
                        "y": 5588.30322265625,
                        "z": 365.35888671875
                    },
                    "rotation": {
                        "roll": -0.04058837890625,
                        "pitch": -0.23648162186145782,
                        "yaw": 89.65885925292969
                    }
                },
                "velocity": {
                    "x": 0.08621770888566971,
                    "y": 13.380620956420898,
                    "z": -0.09282336384057999
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.085932731628418,
                "transform": {
                    "location": {
                        "x": 204.27984619140625,
                        "y": 5664.087890625,
                        "z": 364.7833251953125
                    },
                    "rotation": {
                        "roll": -0.042816177010536194,
                        "pitch": -0.47595489025115967,
                        "yaw": 107.38685607910156
                    }
                },
                "velocity": {
                    "x": -2.4619219303131104,
                    "y": 7.7017502784729,
                    "z": -0.06554628163576126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.086133599281311,
                "transform": {
                    "location": {
                        "x": 214.7635955810547,
                        "y": 5633.38818359375,
                        "z": 365.0400390625
                    },
                    "rotation": {
                        "roll": 0.0009671199368312955,
                        "pitch": 0.4848751127719879,
                        "yaw": -79.86038970947266
                    }
                },
                "velocity": {
                    "x": 0.17251916229724884,
                    "y": -1.0723190307617188,
                    "z": 0.007438373286277056
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7993814945220947,
                "transform": {
                    "location": {
                        "x": 216.83413696289062,
                        "y": 5618.52197265625,
                        "z": 365.14984130859375
                    },
                    "rotation": {
                        "roll": -0.010345444083213806,
                        "pitch": 0.4704565703868866,
                        "yaw": -83.36991882324219
                    }
                },
                "velocity": {
                    "x": 0.2657564878463745,
                    "y": -2.7866601943969727,
                    "z": 0.020859278738498688
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.256888210773468,
        "expert_target_speed": 10.0,
        "target_point": [
            17.755781651288878,
            -10.225563416520483
        ],
        "target_point_next": [
            16.084605067083512,
            -61.198170035093035
        ]
    },
    "335": {
        "acceleration": [
            0.0067999958992004395,
            -0.3127408027648926,
            -1.1548399925231934e-06
        ],
        "angular_velocity": [
            -0.4394080638885498,
            0.002272068290039897,
            1.0696392059326172
        ],
        "forward_vector": [
            0.030473336577415466,
            -0.9995192289352417,
            0.005712715908885002
        ],
        "right_vector": [
            0.9995355606079102,
            0.030474262312054634,
            7.509998249588534e-05
        ],
        "location": [
            218.37828063964844,
            5597.77880859375,
            365.2889404296875
        ],
        "rotation": [
            -0.004302982706576586,
            0.3273163139820099,
            -88.25370788574219
        ],
        "velocity": [
            0.0581662692129612,
            -1.815313696861267,
            0.013607282191514969
        ],
        "speed": 1.816245339398363,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.79669761657715,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                1.5727057416370371e-06,
                -1.24183115985943e-05,
                -7.151589670684189e-05
            ],
            "speed_kmh": 0.00026137119020903655,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1399064064025879,
                "transform": {
                    "location": {
                        "x": 168.49742126464844,
                        "y": 5586.7705078125,
                        "z": 365.7498779296875
                    },
                    "rotation": {
                        "roll": -9.15526834432967e-05,
                        "pitch": -0.7995555400848389,
                        "yaw": -0.137725830078125
                    }
                },
                "velocity": {
                    "x": 0.0019961167126893997,
                    "y": -0.00023917804355733097,
                    "z": 0.13989196717739105
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1911802291870117,
                "transform": {
                    "location": {
                        "x": 169.503662109375,
                        "y": 5583.52783203125,
                        "z": 365.7262878417969
                    },
                    "rotation": {
                        "roll": -0.004760741721838713,
                        "pitch": -0.7650084495544434,
                        "yaw": 0.20762217044830322
                    }
                },
                "velocity": {
                    "x": 3.1906707286834717,
                    "y": 0.03404977172613144,
                    "z": -0.045734260231256485
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.336806297302246,
                "transform": {
                    "location": {
                        "x": 261.41412353515625,
                        "y": 5580.017578125,
                        "z": 365.7711181640625
                    },
                    "rotation": {
                        "roll": -0.008056639693677425,
                        "pitch": -0.8438425064086914,
                        "yaw": -179.6494903564453
                    }
                },
                "velocity": {
                    "x": -4.336195945739746,
                    "y": -0.03243912011384964,
                    "z": -0.06512132287025452
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.876008987426758,
                "transform": {
                    "location": {
                        "x": 214.05882263183594,
                        "y": 5535.93408203125,
                        "z": 365.7663269042969
                    },
                    "rotation": {
                        "roll": 0.0017153770895674825,
                        "pitch": -0.5019232630729675,
                        "yaw": 88.81295776367188
                    }
                },
                "velocity": {
                    "x": 0.15132568776607513,
                    "y": 6.874102592468262,
                    "z": -0.057528767734766006
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.26499605178833,
                "transform": {
                    "location": {
                        "x": 189.54241943359375,
                        "y": 5583.56787109375,
                        "z": 365.4884948730469
                    },
                    "rotation": {
                        "roll": -0.000396728515625,
                        "pitch": -0.28231900930404663,
                        "yaw": -0.031463623046875
                    }
                },
                "velocity": {
                    "x": 2.2649500370025635,
                    "y": -0.002686743624508381,
                    "z": -0.014193706214427948
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.287740707397461,
                "transform": {
                    "location": {
                        "x": 187.12359619140625,
                        "y": 5586.82421875,
                        "z": 365.4988098144531
                    },
                    "rotation": {
                        "roll": 0.0012702731182798743,
                        "pitch": -0.4739741086959839,
                        "yaw": -0.1063537523150444
                    }
                },
                "velocity": {
                    "x": 6.28748893737793,
                    "y": -0.011751044541597366,
                    "z": -0.05504320189356804
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.245506763458252,
                "transform": {
                    "location": {
                        "x": 214.4860076904297,
                        "y": 5551.2529296875,
                        "z": 365.65484619140625
                    },
                    "rotation": {
                        "roll": -0.00842284969985485,
                        "pitch": -0.8409123420715332,
                        "yaw": 88.65205383300781
                    }
                },
                "velocity": {
                    "x": 0.1532580554485321,
                    "y": 5.243103981018066,
                    "z": -0.041395485401153564
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.006478890310972929,
                "transform": {
                    "location": {
                        "x": 241.3668670654297,
                        "y": 5579.99658203125,
                        "z": 365.5827331542969
                    },
                    "rotation": {
                        "roll": 0.0005014320486225188,
                        "pitch": -0.5017661452293396,
                        "yaw": 179.91329956054688
                    }
                },
                "velocity": {
                    "x": -0.006424255203455687,
                    "y": 0.0006355445948429406,
                    "z": 0.0005486776353791356
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.549309730529785,
                "transform": {
                    "location": {
                        "x": 214.96038818359375,
                        "y": 5567.107421875,
                        "z": 365.5116271972656
                    },
                    "rotation": {
                        "roll": -0.0003967244701925665,
                        "pitch": -0.46807965636253357,
                        "yaw": 88.3177261352539
                    }
                },
                "velocity": {
                    "x": 0.13605043292045593,
                    "y": 4.547128200531006,
                    "z": -0.03652804344892502
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00033736706245690584,
                "transform": {
                    "location": {
                        "x": 203.04257202148438,
                        "y": 5583.5615234375,
                        "z": 365.4532775878906
                    },
                    "rotation": {
                        "roll": 0.001786290667951107,
                        "pitch": 0.01837320812046528,
                        "yaw": -1.783569574356079
                    }
                },
                "velocity": {
                    "x": -0.0003112382546532899,
                    "y": -3.7924019125057384e-05,
                    "z": 0.00012453534873202443
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002958724508062005,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.03272343426942825,
                        "yaw": -0.2019347995519638
                    }
                },
                "velocity": {
                    "x": 9.934417732893053e-08,
                    "y": 8.573678655920958e-09,
                    "z": 0.0002958724508062005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.260310667334124e-05,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": 1.5727057416370371e-06,
                    "y": -1.24183115985943e-05,
                    "z": -7.151589670684189e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.28500747680664,
                "transform": {
                    "location": {
                        "x": 215.42811584472656,
                        "y": 5591.767578125,
                        "z": 365.3345642089844
                    },
                    "rotation": {
                        "roll": -0.06158449128270149,
                        "pitch": -0.25720441341400146,
                        "yaw": 90.1492919921875
                    }
                },
                "velocity": {
                    "x": -0.03235698491334915,
                    "y": 14.28461742401123,
                    "z": -0.10045938193798065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.023351669311523,
                "transform": {
                    "location": {
                        "x": 203.66046142578125,
                        "y": 5666.00341796875,
                        "z": 364.7666015625
                    },
                    "rotation": {
                        "roll": -0.026702892035245895,
                        "pitch": -0.48632994294166565,
                        "yaw": 107.81970977783203
                    }
                },
                "velocity": {
                    "x": -2.484940767288208,
                    "y": 7.628541469573975,
                    "z": -0.06781335920095444
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.911624789237976,
                "transform": {
                    "location": {
                        "x": 214.82492065429688,
                        "y": 5633.01416015625,
                        "z": 365.0439453125
                    },
                    "rotation": {
                        "roll": -0.0006408625631593168,
                        "pitch": 0.35175472497940063,
                        "yaw": -80.03824615478516
                    }
                },
                "velocity": {
                    "x": 0.30211398005485535,
                    "y": -1.8875473737716675,
                    "z": 0.014191054739058018
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.068335771560669,
                "transform": {
                    "location": {
                        "x": 216.90492248535156,
                        "y": 5617.81591796875,
                        "z": 365.1555480957031
                    },
                    "rotation": {
                        "roll": -0.0001220659032696858,
                        "pitch": 0.39873960614204407,
                        "yaw": -83.71135711669922
                    }
                },
                "velocity": {
                    "x": 0.29386553168296814,
                    "y": -3.0541555881500244,
                    "z": 0.021456602960824966
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.27278047800064087,
        "expert_target_speed": 10.0,
        "target_point": [
            17.301360025962143,
            -10.226952526115918
        ],
        "target_point_next": [
            15.624690378439096,
            -61.19937875403269
        ]
    },
    "340": {
        "acceleration": [
            0.04652783274650574,
            -1.356658935546875,
            0.0013826414942741394
        ],
        "angular_velocity": [
            -0.4613703489303589,
            -0.0007723015733063221,
            -0.7842298746109009
        ],
        "forward_vector": [
            0.030707040801644325,
            -0.9994981288909912,
            0.007780115120112896
        ],
        "right_vector": [
            0.9995284080505371,
            0.0307078268378973,
            -1.8369639292359352e-05
        ],
        "location": [
            218.39358520507812,
            5597.29541015625,
            365.2919921875
        ],
        "rotation": [
            0.0010525346733629704,
            0.445772260427475,
            -88.24028778076172
        ],
        "velocity": [
            0.06642009317874908,
            -2.0729973316192627,
            0.014662065543234348
        ],
        "speed": 2.074061128722694,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.39506721496582,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -7.064267606438079e-07,
                4.955010354024125e-06,
                -0.00035605530138127506
            ],
            "speed_kmh": 0.001281925722244784,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9453431367874146,
                "transform": {
                    "location": {
                        "x": 168.56460571289062,
                        "y": 5586.77099609375,
                        "z": 365.7719421386719
                    },
                    "rotation": {
                        "roll": -0.003997801337391138,
                        "pitch": -0.723938524723053,
                        "yaw": -0.1085815280675888
                    }
                },
                "velocity": {
                    "x": 0.9447095394134521,
                    "y": 0.010134362615644932,
                    "z": 0.03308803588151932
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9888758659362793,
                "transform": {
                    "location": {
                        "x": 170.40640258789062,
                        "y": 5583.53662109375,
                        "z": 365.7137145996094
                    },
                    "rotation": {
                        "roll": -0.008544920943677425,
                        "pitch": -0.772699236869812,
                        "yaw": 0.38519755005836487
                    }
                },
                "velocity": {
                    "x": 3.988243818283081,
                    "y": 0.04503936693072319,
                    "z": -0.054888222366571426
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.2813944816589355,
                "transform": {
                    "location": {
                        "x": 260.20172119140625,
                        "y": 5580.0087890625,
                        "z": 365.752685546875
                    },
                    "rotation": {
                        "roll": -0.0084228515625,
                        "pitch": -0.7922950983047485,
                        "yaw": -179.60244750976562
                    }
                },
                "velocity": {
                    "x": -5.280678749084473,
                    "y": -0.04065442457795143,
                    "z": -0.0768517330288887
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.882238388061523,
                "transform": {
                    "location": {
                        "x": 214.093505859375,
                        "y": 5537.51416015625,
                        "z": 365.7532653808594
                    },
                    "rotation": {
                        "roll": 0.000824643881060183,
                        "pitch": -0.5047851204872131,
                        "yaw": 88.60045623779297
                    }
                },
                "velocity": {
                    "x": 0.14348512887954712,
                    "y": 5.88028621673584,
                    "z": -0.04869898036122322
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.01930161565542221,
                "transform": {
                    "location": {
                        "x": 189.97718811035156,
                        "y": 5583.5673828125,
                        "z": 365.4855651855469
                    },
                    "rotation": {
                        "roll": -0.005950927268713713,
                        "pitch": -0.6784290075302124,
                        "yaw": 0.1029575914144516
                    }
                },
                "velocity": {
                    "x": 0.01927957497537136,
                    "y": -0.0008580796420574188,
                    "z": -0.00033774442272260785
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.126449108123779,
                "transform": {
                    "location": {
                        "x": 188.8056182861328,
                        "y": 5586.8212890625,
                        "z": 365.4850769042969
                    },
                    "rotation": {
                        "roll": 0.0004378850862849504,
                        "pitch": -0.43557479977607727,
                        "yaw": -0.1174011304974556
                    }
                },
                "velocity": {
                    "x": 7.126280784606934,
                    "y": -0.01449691504240036,
                    "z": -0.046746306121349335
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.335467338562012,
                "transform": {
                    "location": {
                        "x": 214.5271759033203,
                        "y": 5552.701171875,
                        "z": 365.6379699707031
                    },
                    "rotation": {
                        "roll": -0.0021362314000725746,
                        "pitch": -0.17324091494083405,
                        "yaw": 88.52904510498047
                    }
                },
                "velocity": {
                    "x": 0.18481557071208954,
                    "y": 6.332571983337402,
                    "z": -0.05025885999202728
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0017462725518271327,
                "transform": {
                    "location": {
                        "x": 241.36679077148438,
                        "y": 5579.99658203125,
                        "z": 365.5826721191406
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.4966093599796295,
                        "yaw": 179.91326904296875
                    }
                },
                "velocity": {
                    "x": 0.00028161556110717356,
                    "y": -0.00010264874435961246,
                    "z": 0.0017203557072207332
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.380330562591553,
                "transform": {
                    "location": {
                        "x": 214.99562072753906,
                        "y": 5568.22216796875,
                        "z": 365.5028076171875
                    },
                    "rotation": {
                        "roll": -0.001312240376137197,
                        "pitch": -0.46771085262298584,
                        "yaw": 88.53424072265625
                    }
                },
                "velocity": {
                    "x": 0.13276103138923645,
                    "y": 4.378181457519531,
                    "z": -0.03464750200510025
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003239320358261466,
                "transform": {
                    "location": {
                        "x": 203.0426483154297,
                        "y": 5583.5615234375,
                        "z": 365.4532470703125
                    },
                    "rotation": {
                        "roll": 0.0007716921390965581,
                        "pitch": 0.026610415428876877,
                        "yaw": -1.783569574356079
                    }
                },
                "velocity": {
                    "x": -0.00014181225560605526,
                    "y": 1.3685616977454629e-05,
                    "z": -0.00029091915348544717
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.562866474268958e-05,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.03272343426942825,
                        "yaw": -0.2019347995519638
                    }
                },
                "velocity": {
                    "x": 2.8884876428492134e-06,
                    "y": 2.7385731300455518e-05,
                    "z": 5.95718011027202e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00035609048791229725,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -7.064267606438079e-07,
                    "y": 4.955010354024125e-06,
                    "z": -0.00035605530138127506
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.601012229919434,
                "transform": {
                    "location": {
                        "x": 215.40069580078125,
                        "y": 5595.3974609375,
                        "z": 365.30877685546875
                    },
                    "rotation": {
                        "roll": -0.0874633640050888,
                        "pitch": -0.3321247696876526,
                        "yaw": 90.8083267211914
                    }
                },
                "velocity": {
                    "x": -0.2079399824142456,
                    "y": 14.599164962768555,
                    "z": -0.10338286310434341
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.10015869140625,
                        "y": 5667.98779296875,
                        "z": 364.7499084472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4951203763484955,
                        "yaw": 109.59963989257812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8138320446014404,
                "transform": {
                    "location": {
                        "x": 214.92062377929688,
                        "y": 5632.42626953125,
                        "z": 365.04840087890625
                    },
                    "rotation": {
                        "roll": -0.0012817500391975045,
                        "pitch": 0.33854514360427856,
                        "yaw": -80.26255798339844
                    }
                },
                "velocity": {
                    "x": 0.4439030885696411,
                    "y": -2.7785210609436035,
                    "z": 0.020531024783849716
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.607515573501587,
                "transform": {
                    "location": {
                        "x": 216.9766387939453,
                        "y": 5617.087890625,
                        "z": 365.1603698730469
                    },
                    "rotation": {
                        "roll": 0.0031256757210940123,
                        "pitch": 0.4367222785949707,
                        "yaw": -83.9428482055664
                    }
                },
                "velocity": {
                    "x": 0.24931256473064423,
                    "y": -2.5955002307891846,
                    "z": 0.018958929926156998
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.28568482398986816,
        "expert_target_speed": 10.0,
        "target_point": [
            16.815308050781407,
            -10.231483489743171
        ],
        "target_point_next": [
            15.126621445795777,
            -61.20351301788227
        ]
    },
    "345": {
        "acceleration": [
            0.04478543996810913,
            -1.7156744003295898,
            0.03556612879037857
        ],
        "angular_velocity": [
            -0.27389565110206604,
            0.027785858139395714,
            0.8313542604446411
        ],
        "forward_vector": [
            0.031165320426225662,
            -0.9994697570800781,
            0.009428241290152073
        ],
        "right_vector": [
            0.9995142221450806,
            0.031165780499577522,
            -9.821540879784152e-05
        ],
        "location": [
            218.411865234375,
            5596.72412109375,
            365.2955322265625
        ],
        "rotation": [
            0.005627578590065241,
            0.5402064323425293,
            -88.2139892578125
        ],
        "velocity": [
            0.07813863456249237,
            -2.483896017074585,
            0.017049025744199753
        ],
        "speed": 2.4851247594135546,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.92477035522461,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -1.074196734407451e-05,
                -1.3669758118339814e-05,
                -0.0002532793441787362
            ],
            "speed_kmh": 0.0009139511536445005,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8946576118469238,
                "transform": {
                    "location": {
                        "x": 168.9325714111328,
                        "y": 5586.7734375,
                        "z": 365.7719421386719
                    },
                    "rotation": {
                        "roll": -0.0054931640625,
                        "pitch": -0.6943638324737549,
                        "yaw": 0.019350823014974594
                    }
                },
                "velocity": {
                    "x": 1.8944517374038696,
                    "y": 0.021132776513695717,
                    "z": -0.018272943794727325
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.762421607971191,
                "transform": {
                    "location": {
                        "x": 171.50265502929688,
                        "y": 5583.546875,
                        "z": 365.69854736328125
                    },
                    "rotation": {
                        "roll": -0.00518798828125,
                        "pitch": -0.775021493434906,
                        "yaw": 0.45562294125556946
                    }
                },
                "velocity": {
                    "x": 4.761886119842529,
                    "y": 0.02781381458044052,
                    "z": -0.06576716899871826
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.5865888595581055,
                "transform": {
                    "location": {
                        "x": 258.865234375,
                        "y": 5580.0,
                        "z": 365.73345947265625
                    },
                    "rotation": {
                        "roll": -0.0064697265625,
                        "pitch": -0.7962019443511963,
                        "yaw": -179.56163024902344
                    }
                },
                "velocity": {
                    "x": -5.585959434509277,
                    "y": -0.028481323271989822,
                    "z": -0.07887434214353561
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.104001998901367,
                "transform": {
                    "location": {
                        "x": 214.1306915283203,
                        "y": 5539.01171875,
                        "z": 365.74053955078125
                    },
                    "rotation": {
                        "roll": 0.0015881542349234223,
                        "pitch": -0.4785435199737549,
                        "yaw": 88.4933090209961
                    }
                },
                "velocity": {
                    "x": 0.16323575377464294,
                    "y": 6.101611137390137,
                    "z": -0.05032585188746452
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0151060819625854,
                "transform": {
                    "location": {
                        "x": 190.09593200683594,
                        "y": 5583.56689453125,
                        "z": 365.4848327636719
                    },
                    "rotation": {
                        "roll": -0.003692626254633069,
                        "pitch": -0.3562285006046295,
                        "yaw": 0.09293146431446075
                    }
                },
                "velocity": {
                    "x": 1.0150835514068604,
                    "y": -0.0002982086152769625,
                    "z": -0.006748828571289778
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.654969692230225,
                "transform": {
                    "location": {
                        "x": 190.5477294921875,
                        "y": 5586.8173828125,
                        "z": 365.4740295410156
                    },
                    "rotation": {
                        "roll": -6.103515625e-05,
                        "pitch": -0.33663269877433777,
                        "yaw": -0.1235046461224556
                    }
                },
                "velocity": {
                    "x": 6.6548357009887695,
                    "y": -0.014488854445517063,
                    "z": -0.03970572352409363
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.665102481842041,
                "transform": {
                    "location": {
                        "x": 214.57827758789062,
                        "y": 5554.388671875,
                        "z": 365.6248779296875
                    },
                    "rotation": {
                        "roll": -0.011810303665697575,
                        "pitch": -0.219030499458313,
                        "yaw": 88.81742858886719
                    }
                },
                "velocity": {
                    "x": 0.19150687754154205,
                    "y": 6.662143230438232,
                    "z": -0.05260440707206726
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010299906134605408,
                "transform": {
                    "location": {
                        "x": 241.36663818359375,
                        "y": 5579.99658203125,
                        "z": 365.5824890136719
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": -0.473598450422287,
                        "yaw": 179.91322326660156
                    }
                },
                "velocity": {
                    "x": 4.6620443754363805e-05,
                    "y": 8.49391653900966e-05,
                    "z": 0.001025423058308661
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.075948238372803,
                "transform": {
                    "location": {
                        "x": 215.02804565429688,
                        "y": 5569.2763671875,
                        "z": 365.4945373535156
                    },
                    "rotation": {
                        "roll": -0.0021056896075606346,
                        "pitch": -0.468537300825119,
                        "yaw": 88.65338134765625
                    }
                },
                "velocity": {
                    "x": 0.12094730138778687,
                    "y": 4.074031352996826,
                    "z": -0.03158991411328316
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00015174467989709228,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.4532470703125
                    },
                    "rotation": {
                        "roll": 0.0004272257210686803,
                        "pitch": 0.030052831396460533,
                        "yaw": -1.7835693359375
                    }
                },
                "velocity": {
                    "x": 7.762806490063667e-06,
                    "y": 6.0322887293295935e-05,
                    "z": -0.00013902279897592962
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00015967671060934663,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.03272343426942825,
                        "yaw": -0.2019347995519638
                    }
                },
                "velocity": {
                    "x": -1.5129318853723817e-05,
                    "y": 2.1919358914601617e-05,
                    "z": 0.00015743981930427253
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002538753324188292,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.074196734407451e-05,
                    "y": -1.3669758118339814e-05,
                    "z": -0.0002532793441787362
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.461773872375488,
                "transform": {
                    "location": {
                        "x": 215.3279571533203,
                        "y": 5599.02880859375,
                        "z": 365.2829284667969
                    },
                    "rotation": {
                        "roll": -0.0758361890912056,
                        "pitch": -0.40481844544410706,
                        "yaw": 91.4725570678711
                    }
                },
                "velocity": {
                    "x": -0.3475325405597687,
                    "y": 14.457229614257812,
                    "z": -0.10316409170627594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 202.44967651367188,
                        "y": 5669.96728515625,
                        "z": 364.7323303222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4951203763484955,
                        "yaw": 109.59963989257812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.419606924057007,
                "transform": {
                    "location": {
                        "x": 215.05007934570312,
                        "y": 5631.62744140625,
                        "z": 365.0543518066406
                    },
                    "rotation": {
                        "roll": 0.0008717461605556309,
                        "pitch": 0.3536808490753174,
                        "yaw": -80.47769927978516
                    }
                },
                "velocity": {
                    "x": 0.5394526720046997,
                    "y": -3.3766894340515137,
                    "z": 0.025897998362779617
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.84911847114563,
                "transform": {
                    "location": {
                        "x": 217.04054260253906,
                        "y": 5616.43505859375,
                        "z": 365.16546630859375
                    },
                    "rotation": {
                        "roll": 0.001968716038390994,
                        "pitch": 0.3980429172515869,
                        "yaw": -84.10857391357422
                    }
                },
                "velocity": {
                    "x": 0.2722296416759491,
                    "y": -2.8360207080841064,
                    "z": 0.018780412152409554
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2932873070240021,
        "expert_target_speed": 10.0,
        "target_point": [
            16.23905331114092,
            -10.239626700112193
        ],
        "target_point_next": [
            14.527092888965093,
            -61.21087985500574
        ]
    },
    "350": {
        "acceleration": [
            -0.03341764211654663,
            1.253805160522461,
            -0.00673636794090271
        ],
        "angular_velocity": [
            0.7228055596351624,
            0.0778668075799942,
            -0.8297455310821533
        ],
        "forward_vector": [
            0.03113142028450966,
            -0.999476432800293,
            0.008812075480818748
        ],
        "right_vector": [
            0.9995152950286865,
            0.031131356954574585,
            -0.00014441972598433495
        ],
        "location": [
            218.4324188232422,
            5596.07470703125,
            365.30023193359375
        ],
        "rotation": [
            0.008274962194263935,
            0.5049012303352356,
            -88.2159423828125
        ],
        "velocity": [
            0.08081510663032532,
            -2.560698986053467,
            0.01768072135746479
        ],
        "speed": 2.5619739223175015,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.396577835083008,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                6.895698447806353e-07,
                1.9438009985606186e-05,
                -0.0004167448205407709
            ],
            "speed_kmh": 0.0015019144653191292,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0845155715942383,
                "transform": {
                    "location": {
                        "x": 169.5546112060547,
                        "y": 5586.77880859375,
                        "z": 365.7638854980469
                    },
                    "rotation": {
                        "roll": -0.008056640625,
                        "pitch": -0.6736137270927429,
                        "yaw": 0.19421835243701935
                    }
                },
                "velocity": {
                    "x": 3.084045648574829,
                    "y": 0.03442737087607384,
                    "z": -0.04140205308794975
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.2814040184021,
                "transform": {
                    "location": {
                        "x": 172.78125,
                        "y": 5583.55419921875,
                        "z": 365.6812438964844
                    },
                    "rotation": {
                        "roll": -0.006805420387536287,
                        "pitch": -0.7807042598724365,
                        "yaw": 0.3611982762813568
                    }
                },
                "velocity": {
                    "x": 5.2808332443237305,
                    "y": 0.025587797164916992,
                    "z": -0.0733255073428154
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.7798895835876465,
                "transform": {
                    "location": {
                        "x": 257.32086181640625,
                        "y": 5579.9921875,
                        "z": 365.7115173339844
                    },
                    "rotation": {
                        "roll": -0.00433349609375,
                        "pitch": -0.776305615901947,
                        "yaw": -179.69187927246094
                    }
                },
                "velocity": {
                    "x": -6.779234409332275,
                    "y": -0.021917268633842468,
                    "z": -0.09166114777326584
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.9677908420562744,
                "transform": {
                    "location": {
                        "x": 214.16796875,
                        "y": 5540.41162109375,
                        "z": 365.7292175292969
                    },
                    "rotation": {
                        "roll": 0.0009516227291896939,
                        "pitch": -0.5162666440010071,
                        "yaw": 88.41317749023438
                    }
                },
                "velocity": {
                    "x": 0.11003068834543228,
                    "y": 3.966092109680176,
                    "z": -0.037000469863414764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.346500873565674,
                "transform": {
                    "location": {
                        "x": 190.53733825683594,
                        "y": 5583.56591796875,
                        "z": 365.4819030761719
                    },
                    "rotation": {
                        "roll": 0.0036547863855957985,
                        "pitch": -0.11737679690122604,
                        "yaw": -0.009124754928052425
                    }
                },
                "velocity": {
                    "x": 2.3464512825012207,
                    "y": -0.003914529457688332,
                    "z": -0.014758825302124023
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.612019062042236,
                "transform": {
                    "location": {
                        "x": 192.1160888671875,
                        "y": 5586.8134765625,
                        "z": 365.4648742675781
                    },
                    "rotation": {
                        "roll": 0.00038922319072298706,
                        "pitch": -0.2830840051174164,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": 5.61194372177124,
                    "y": -0.01264822855591774,
                    "z": -0.026188569143414497
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5194523334503174,
                "transform": {
                    "location": {
                        "x": 214.61241149902344,
                        "y": 5555.30419921875,
                        "z": 365.6268005371094
                    },
                    "rotation": {
                        "roll": -0.04647838696837425,
                        "pitch": -1.3817745447158813,
                        "yaw": 89.33013916015625
                    }
                },
                "velocity": {
                    "x": 0.07692429423332214,
                    "y": 2.51818585395813,
                    "z": -0.021514981985092163
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015003745211288333,
                "transform": {
                    "location": {
                        "x": 241.36656188964844,
                        "y": 5579.99658203125,
                        "z": 365.5824279785156
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.4632507264614105,
                        "yaw": 179.91319274902344
                    }
                },
                "velocity": {
                    "x": 7.264464784384472e-06,
                    "y": 8.581149813835509e-06,
                    "z": 0.001500332378782332
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.055792808532715,
                "transform": {
                    "location": {
                        "x": 215.05726623535156,
                        "y": 5570.28662109375,
                        "z": 365.4867858886719
                    },
                    "rotation": {
                        "roll": 0.02206297777593136,
                        "pitch": -0.4496791362762451,
                        "yaw": 88.67747497558594
                    }
                },
                "velocity": {
                    "x": 0.11100126802921295,
                    "y": 4.054161071777344,
                    "z": -0.030188878998160362
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00020225459593348205,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": 0.0005219503655098379,
                        "pitch": 0.0355374738574028,
                        "yaw": -1.7835694551467896
                    }
                },
                "velocity": {
                    "x": -2.5650839234003797e-05,
                    "y": -2.0511424736469053e-05,
                    "z": -0.00019957011681981385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003769212053157389,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.03272343426942825,
                        "yaw": -0.2019347995519638
                    }
                },
                "velocity": {
                    "x": 2.1373283743741922e-05,
                    "y": -3.027254933840595e-06,
                    "z": 0.00037630254519172013
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004171984619461,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": 6.895698447806353e-07,
                    "y": 1.9438009985606186e-05,
                    "z": -0.0004167448205407709
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.429733276367188,
                "transform": {
                    "location": {
                        "x": 215.2032012939453,
                        "y": 5602.634765625,
                        "z": 365.25726318359375
                    },
                    "rotation": {
                        "roll": -0.0993347093462944,
                        "pitch": -0.41116371750831604,
                        "yaw": 92.43799591064453
                    }
                },
                "velocity": {
                    "x": -0.5859729647636414,
                    "y": 14.417458534240723,
                    "z": -0.10359366238117218
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 201.78944396972656,
                        "y": 5671.94287109375,
                        "z": 364.7146301269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4951203763484955,
                        "yaw": 109.59963989257812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8799664974212646,
                "transform": {
                    "location": {
                        "x": 215.191162109375,
                        "y": 5630.75244140625,
                        "z": 365.0607604980469
                    },
                    "rotation": {
                        "roll": 0.0011486306320875883,
                        "pitch": 0.3784744143486023,
                        "yaw": -80.63614654541016
                    }
                },
                "velocity": {
                    "x": 0.6116401553153992,
                    "y": -3.8313534259796143,
                    "z": 0.027699299156665802
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.776563882827759,
                "transform": {
                    "location": {
                        "x": 217.1112518310547,
                        "y": 5615.70849609375,
                        "z": 365.1703796386719
                    },
                    "rotation": {
                        "roll": 0.0033074687235057354,
                        "pitch": 0.40638941526412964,
                        "yaw": -84.22191619873047
                    }
                },
                "velocity": {
                    "x": 0.2653696835041046,
                    "y": -2.7637758255004883,
                    "z": 0.020719032734632492
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.32143691182136536,
        "expert_target_speed": 0,
        "target_point": [
            15.589647235265188,
            -10.239423550419327
        ],
        "target_point_next": [
            13.879344869861141,
            -61.21073236710791
        ]
    },
    "355": {
        "acceleration": [
            -0.05071759223937988,
            0.4362058639526367,
            0.00010758638381958008
        ],
        "angular_velocity": [
            0.15500326454639435,
            0.04943707212805748,
            0.8178351521492004
        ],
        "forward_vector": [
            0.03125036507844925,
            -0.9994930028915405,
            0.00609882827848196
        ],
        "right_vector": [
            0.9995116591453552,
            0.031249606981873512,
            -0.0002195807028329
        ],
        "location": [
            218.45069885253906,
            5595.48681640625,
            365.30487060546875
        ],
        "rotation": [
            0.012581282295286655,
            0.3494392931461334,
            -88.20915985107422
        ],
        "velocity": [
            0.06790030747652054,
            -2.241956949234009,
            0.017175741493701935
        ],
        "speed": 2.2429849339605625,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.92482566833496,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -2.2481381165562198e-06,
                -2.2922475181985646e-05,
                -0.00033186262589879334
            ],
            "speed_kmh": 0.00119757935943563,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.491541862487793,
                "transform": {
                    "location": {
                        "x": 170.51405334472656,
                        "y": 5586.7880859375,
                        "z": 365.7505798339844
                    },
                    "rotation": {
                        "roll": -0.009887694381177425,
                        "pitch": -0.649257242679596,
                        "yaw": 0.3821035921573639
                    }
                },
                "velocity": {
                    "x": 4.490819454193115,
                    "y": 0.05137573555111885,
                    "z": -0.0620248019695282
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.203358173370361,
                "transform": {
                    "location": {
                        "x": 174.22055053710938,
                        "y": 5583.5615234375,
                        "z": 365.6611633300781
                    },
                    "rotation": {
                        "roll": -0.004302978049963713,
                        "pitch": -0.7723987102508545,
                        "yaw": 0.28327059745788574
                    }
                },
                "velocity": {
                    "x": 6.202702522277832,
                    "y": 0.02750415913760662,
                    "z": -0.08592483401298523
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.70150089263916,
                "transform": {
                    "location": {
                        "x": 255.48194885253906,
                        "y": 5579.986328125,
                        "z": 365.68701171875
                    },
                    "rotation": {
                        "roll": -0.002197265625,
                        "pitch": -0.6974510550498962,
                        "yaw": -179.84278869628906
                    }
                },
                "velocity": {
                    "x": -7.700845241546631,
                    "y": -0.018213480710983276,
                    "z": -0.09881564974784851
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0035855770111084,
                "transform": {
                    "location": {
                        "x": 214.17733764648438,
                        "y": 5540.7734375,
                        "z": 365.7266845703125
                    },
                    "rotation": {
                        "roll": 0.002558064414188266,
                        "pitch": -0.5817272067070007,
                        "yaw": 88.36264038085938
                    }
                },
                "velocity": {
                    "x": 0.028919393196702003,
                    "y": 1.0031458139419556,
                    "z": -0.006786832585930824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.01027628779411316,
                "transform": {
                    "location": {
                        "x": 190.95944213867188,
                        "y": 5583.5654296875,
                        "z": 365.47894287109375
                    },
                    "rotation": {
                        "roll": 0.005216413643211126,
                        "pitch": -0.624354362487793,
                        "yaw": -0.1781310886144638
                    }
                },
                "velocity": {
                    "x": 0.010257742367684841,
                    "y": 0.00044580144458450377,
                    "z": 0.00042670147377066314
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.586375892162323,
                "transform": {
                    "location": {
                        "x": 192.68898010253906,
                        "y": 5586.8125,
                        "z": 365.4635009765625
                    },
                    "rotation": {
                        "roll": -0.0001525879488326609,
                        "pitch": -0.42563003301620483,
                        "yaw": -0.1268310397863388
                    }
                },
                "velocity": {
                    "x": 0.5863720774650574,
                    "y": -0.001140992739237845,
                    "z": -0.001769533148035407
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.7190442085266113,
                "transform": {
                    "location": {
                        "x": 214.6285858154297,
                        "y": 5555.95654296875,
                        "z": 365.6155090332031
                    },
                    "rotation": {
                        "roll": -0.01980593428015709,
                        "pitch": -0.6281383037567139,
                        "yaw": 89.07948303222656
                    }
                },
                "velocity": {
                    "x": 0.07493327558040619,
                    "y": 2.7179248332977295,
                    "z": -0.02170744352042675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016158715588971972,
                "transform": {
                    "location": {
                        "x": 241.36656188964844,
                        "y": 5579.99658203125,
                        "z": 365.5823669433594
                    },
                    "rotation": {
                        "roll": -0.00140380859375,
                        "pitch": -0.46023860573768616,
                        "yaw": 179.9132080078125
                    }
                },
                "velocity": {
                    "x": -5.318224339134758e-06,
                    "y": -3.7127018003957346e-05,
                    "z": 0.0016154362820088863
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.830589771270752,
                "transform": {
                    "location": {
                        "x": 215.08624267578125,
                        "y": 5571.38134765625,
                        "z": 365.4783935546875
                    },
                    "rotation": {
                        "roll": 0.021074263378977776,
                        "pitch": -0.37493637204170227,
                        "yaw": 88.55101776123047
                    }
                },
                "velocity": {
                    "x": 0.13195011019706726,
                    "y": 4.828664779663086,
                    "z": -0.03442087024450302
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003713883343152702,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": 0.03660298138856888,
                        "yaw": -1.7835694551467896
                    }
                },
                "velocity": {
                    "x": -2.5748615371412598e-05,
                    "y": -2.8171482426841976e-06,
                    "z": 0.0003704839909914881
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00014941130939405411,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.03272343426942825,
                        "yaw": -0.2019347995519638
                    }
                },
                "velocity": {
                    "x": 7.76637352828402e-06,
                    "y": 7.699164416408166e-05,
                    "z": -0.0001278112322324887
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003326609148643911,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -2.2481381165562198e-06,
                    "y": -2.2922475181985646e-05,
                    "z": -0.00033186262589879334
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.451347351074219,
                "transform": {
                    "location": {
                        "x": 215.02842712402344,
                        "y": 5606.2412109375,
                        "z": 365.23162841796875
                    },
                    "rotation": {
                        "roll": -0.1159057542681694,
                        "pitch": -0.40615716576576233,
                        "yaw": 93.2904052734375
                    }
                },
                "velocity": {
                    "x": -0.8164864778518677,
                    "y": 14.427891731262207,
                    "z": -0.10346102714538574
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5094,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 201.07241821289062,
                        "y": 5673.89599609375,
                        "z": 364.6962890625
                    },
                    "rotation": {
                        "roll": 5.336296027280696e-08,
                        "pitch": -0.5095798969268799,
                        "yaw": 110.81279754638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.944887638092041,
                "transform": {
                    "location": {
                        "x": 215.3668670654297,
                        "y": 5629.65869140625,
                        "z": 365.06939697265625
                    },
                    "rotation": {
                        "roll": 0.002815230516716838,
                        "pitch": 0.3258819580078125,
                        "yaw": -80.75951385498047
                    }
                },
                "velocity": {
                    "x": 0.7796898484230042,
                    "y": -4.882896900177002,
                    "z": 0.0363025926053524
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8696818351745605,
                "transform": {
                    "location": {
                        "x": 217.1805419921875,
                        "y": 5614.9931640625,
                        "z": 365.1756591796875
                    },
                    "rotation": {
                        "roll": 0.00407553231343627,
                        "pitch": 0.3959597051143646,
                        "yaw": -84.31851959228516
                    }
                },
                "velocity": {
                    "x": 0.27379581332206726,
                    "y": -2.856513261795044,
                    "z": 0.021009396761655807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.3478211462497711,
        "expert_target_speed": 0,
        "target_point": [
            15.000278827946394,
            -10.241140199026631
        ],
        "target_point_next": [
            13.284035037538224,
            -61.21224930918066
        ]
    },
    "360": {
        "acceleration": [
            0.01043759286403656,
            -1.0776376724243164,
            0.0020717456936836243
        ],
        "angular_velocity": [
            -0.43199440836906433,
            0.013332027941942215,
            -1.2326041460037231
        ],
        "forward_vector": [
            0.029705235734581947,
            -0.9995330572128296,
            0.0071626282297074795
        ],
        "right_vector": [
            0.999558687210083,
            0.029703617095947266,
            -0.00033219504985027015
        ],
        "location": [
            218.4667205810547,
            5594.9150390625,
            365.3087463378906
        ],
        "rotation": [
            0.01903386227786541,
            0.4103918969631195,
            -88.29772186279297
        ],
        "velocity": [
            0.06079941987991333,
            -2.3820183277130127,
            0.017557963728904724
        ],
        "speed": 2.382794133578986,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.473220825195312,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -1.149047147919191e-05,
                1.0314348401152529e-05,
                4.39363757323008e-05
            ],
            "speed_kmh": 0.0001676542004244669,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.228600025177002,
                "transform": {
                    "location": {
                        "x": 171.7772674560547,
                        "y": 5586.79736328125,
                        "z": 365.73382568359375
                    },
                    "rotation": {
                        "roll": -0.0025329592172056437,
                        "pitch": -0.6951902508735657,
                        "yaw": 0.4360317587852478
                    }
                },
                "velocity": {
                    "x": 5.2280378341674805,
                    "y": 0.02620045281946659,
                    "z": -0.07206907868385315
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.144397735595703,
                "transform": {
                    "location": {
                        "x": 175.8661651611328,
                        "y": 5583.5693359375,
                        "z": 365.6383361816406
                    },
                    "rotation": {
                        "roll": -0.005157470237463713,
                        "pitch": -0.7679386138916016,
                        "yaw": 0.2502264678478241
                    }
                },
                "velocity": {
                    "x": 7.143651962280273,
                    "y": 0.03138824179768562,
                    "z": -0.09833519905805588
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.70194149017334,
                "transform": {
                    "location": {
                        "x": 253.5485076904297,
                        "y": 5579.98193359375,
                        "z": 365.66253662109375
                    },
                    "rotation": {
                        "roll": -0.0018005372257903218,
                        "pitch": -0.6831076741218567,
                        "yaw": -179.91839599609375
                    }
                },
                "velocity": {
                    "x": -7.7013678550720215,
                    "y": -0.007659621071070433,
                    "z": -0.09371647983789444
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6030762195587158,
                "transform": {
                    "location": {
                        "x": 214.187255859375,
                        "y": 5541.1025390625,
                        "z": 365.72308349609375
                    },
                    "rotation": {
                        "roll": 0.001457040081731975,
                        "pitch": -0.4690495431423187,
                        "yaw": 88.4236068725586
                    }
                },
                "velocity": {
                    "x": 0.04604054242372513,
                    "y": 1.6023578643798828,
                    "z": -0.013535747304558754
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.016422986984253,
                "transform": {
                    "location": {
                        "x": 191.07882690429688,
                        "y": 5583.56494140625,
                        "z": 365.4782409667969
                    },
                    "rotation": {
                        "roll": 0.0017681117169559002,
                        "pitch": -0.28326159715652466,
                        "yaw": -0.2135314792394638
                    }
                },
                "velocity": {
                    "x": 1.0163946151733398,
                    "y": -0.0029742324259132147,
                    "z": -0.006984291132539511
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5469683408737183,
                "transform": {
                    "location": {
                        "x": 192.99061584472656,
                        "y": 5586.8115234375,
                        "z": 365.46099853515625
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": -0.27661582827568054,
                        "yaw": -0.09210205078125
                    }
                },
                "velocity": {
                    "x": 1.5469555854797363,
                    "y": -0.0034756187815219164,
                    "z": -0.005204448476433754
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.4242324829101562,
                "transform": {
                    "location": {
                        "x": 214.6482696533203,
                        "y": 5556.72314453125,
                        "z": 365.60601806640625
                    },
                    "rotation": {
                        "roll": 0.0020889765582978725,
                        "pitch": -0.19949615001678467,
                        "yaw": 88.84234619140625
                    }
                },
                "velocity": {
                    "x": 0.09698791056871414,
                    "y": 3.422759532928467,
                    "z": -0.026055391877889633
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 241.36656188964844,
                        "y": 5579.99658203125,
                        "z": 365.5823669433594
                    },
                    "rotation": {
                        "roll": -0.00140380859375,
                        "pitch": -0.46023860573768616,
                        "yaw": 179.9132080078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.103756904602051,
                "transform": {
                    "location": {
                        "x": 215.12342834472656,
                        "y": 5572.75048828125,
                        "z": 365.4679870605469
                    },
                    "rotation": {
                        "roll": 0.05774461105465889,
                        "pitch": -0.32974785566329956,
                        "yaw": 88.48065948486328
                    }
                },
                "velocity": {
                    "x": 0.16641531884670258,
                    "y": 6.101325511932373,
                    "z": -0.044484943151474
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00027259704074822366,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": 0.03660298138856888,
                        "yaw": -1.7835694551467896
                    }
                },
                "velocity": {
                    "x": -4.6630016186099965e-06,
                    "y": 3.0100181902525946e-05,
                    "z": 0.0002708899846766144
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.711159560130909e-05,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.03272343426942825,
                        "yaw": -0.2019347995519638
                    }
                },
                "velocity": {
                    "x": -1.2721284292638302e-05,
                    "y": -3.800649574259296e-05,
                    "z": -6.587771349586546e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.657061435864307e-05,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.149047147919191e-05,
                    "y": 1.0314348401152529e-05,
                    "z": 4.39363757323008e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.453361511230469,
                "transform": {
                    "location": {
                        "x": 214.80030822753906,
                        "y": 5609.84716796875,
                        "z": 365.2059326171875
                    },
                    "rotation": {
                        "roll": -0.1114196702837944,
                        "pitch": -0.40597960352897644,
                        "yaw": 94.0228271484375
                    }
                },
                "velocity": {
                    "x": -1.0295900106430054,
                    "y": 14.416274070739746,
                    "z": -0.10315987467765808
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.439277172088623,
                "transform": {
                    "location": {
                        "x": 215.56881713867188,
                        "y": 5628.36474609375,
                        "z": 365.0790100097656
                    },
                    "rotation": {
                        "roll": -0.018188482150435448,
                        "pitch": 0.36580443382263184,
                        "yaw": -81.04046630859375
                    }
                },
                "velocity": {
                    "x": 0.7622696757316589,
                    "y": -5.385454177856445,
                    "z": 0.03954927250742912
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.564350128173828,
                "transform": {
                    "location": {
                        "x": 217.24281311035156,
                        "y": 5614.3486328125,
                        "z": 365.1799621582031
                    },
                    "rotation": {
                        "roll": 0.003976467065513134,
                        "pitch": 0.4258827567100525,
                        "yaw": -84.3646240234375
                    }
                },
                "velocity": {
                    "x": 0.24527017772197723,
                    "y": -2.552532196044922,
                    "z": 0.017693987116217613
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.3785497844219208,
        "expert_target_speed": 0,
        "target_point": [
            14.44408229286195,
            -10.21698249586998
        ],
        "target_point_next": [
            12.806589690627591,
            -61.190682328675614
        ]
    },
    "365": {
        "acceleration": [
            0.015415549278259277,
            -1.5143823623657227,
            0.0030877813696861267
        ],
        "angular_velocity": [
            -0.3048786520957947,
            -0.001576549606397748,
            0.3220215141773224
        ],
        "forward_vector": [
            0.028025925159454346,
            -0.9995673894882202,
            0.008919119834899902
        ],
        "right_vector": [
            0.9996071457862854,
            0.02802419848740101,
            -0.00031843871693126857
        ],
        "location": [
            218.48272705078125,
            5594.2734375,
            365.31304931640625
        ],
        "rotation": [
            0.018245920538902283,
            0.5110347270965576,
            -88.39395904541016
        ],
        "velocity": [
            0.06488397717475891,
            -2.7372665405273438,
            0.01785559579730034
        ],
        "speed": 2.7380354351951963,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.97549819946289,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -1.3344157196115702e-05,
                -1.513757979410002e-05,
                -7.835913129383698e-05
            ],
            "speed_kmh": 0.000291296871564168,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.6906609535217285,
                "transform": {
                    "location": {
                        "x": 173.1457061767578,
                        "y": 5586.80419921875,
                        "z": 365.7151794433594
                    },
                    "rotation": {
                        "roll": -0.005401611328125,
                        "pitch": -0.7416970133781433,
                        "yaw": 0.440336138010025
                    }
                },
                "velocity": {
                    "x": 5.690052509307861,
                    "y": 0.028053442016243935,
                    "z": -0.07833559811115265
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.201866626739502,
                "transform": {
                    "location": {
                        "x": 177.71507263183594,
                        "y": 5583.57568359375,
                        "z": 365.6129455566406
                    },
                    "rotation": {
                        "roll": -0.0037841796875,
                        "pitch": -0.787500262260437,
                        "yaw": 0.1694270223379135
                    }
                },
                "velocity": {
                    "x": 7.201168537139893,
                    "y": 0.012061826884746552,
                    "z": -0.09955165535211563
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.523644924163818,
                "transform": {
                    "location": {
                        "x": 251.7653045654297,
                        "y": 5579.97998046875,
                        "z": 365.6417541503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7169785499572754,
                        "yaw": 179.99708557128906
                    }
                },
                "velocity": {
                    "x": -6.52324914932251,
                    "y": 0.0010474941227585077,
                    "z": -0.07182902842760086
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.136855125427246,
                "transform": {
                    "location": {
                        "x": 214.2010040283203,
                        "y": 5541.57421875,
                        "z": 365.7190246582031
                    },
                    "rotation": {
                        "roll": 0.0009646345279179513,
                        "pitch": -0.4549793601036072,
                        "yaw": 88.4594955444336
                    }
                },
                "velocity": {
                    "x": 0.06119729205965996,
                    "y": 2.1359052658081055,
                    "z": -0.01771123893558979
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.339782238006592,
                "transform": {
                    "location": {
                        "x": 191.49749755859375,
                        "y": 5583.564453125,
                        "z": 365.4757385253906
                    },
                    "rotation": {
                        "roll": 0.001590974279679358,
                        "pitch": -0.05612366273999214,
                        "yaw": -0.2130737155675888
                    }
                },
                "velocity": {
                    "x": 2.3397433757781982,
                    "y": -0.005574261303991079,
                    "z": -0.012271098792552948
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1395983695983887,
                "transform": {
                    "location": {
                        "x": 193.455078125,
                        "y": 5586.810546875,
                        "z": 365.4592590332031
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -0.2166740745306015,
                        "yaw": -0.0953368991613388
                    }
                },
                "velocity": {
                    "x": 2.139585018157959,
                    "y": -0.004712372086942196,
                    "z": -0.005897769704461098
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.490854263305664,
                "transform": {
                    "location": {
                        "x": 214.67515563964844,
                        "y": 5557.71240234375,
                        "z": 365.59820556640625
                    },
                    "rotation": {
                        "roll": 0.004287819843739271,
                        "pitch": -0.18429897725582123,
                        "yaw": 88.62882232666016
                    }
                },
                "velocity": {
                    "x": 0.13171890377998352,
                    "y": 4.488785743713379,
                    "z": -0.034989289939403534
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00129170180298388,
                "transform": {
                    "location": {
                        "x": 241.36656188964844,
                        "y": 5579.99658203125,
                        "z": 365.5823669433594
                    },
                    "rotation": {
                        "roll": -0.00140380859375,
                        "pitch": -0.46023860573768616,
                        "yaw": 179.9132080078125
                    }
                },
                "velocity": {
                    "x": -1.882657306850888e-05,
                    "y": -3.194417786289705e-06,
                    "z": 0.0012915607076138258
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.049548149108887,
                "transform": {
                    "location": {
                        "x": 215.1688232421875,
                        "y": 5574.4248046875,
                        "z": 365.4586181640625
                    },
                    "rotation": {
                        "roll": -0.015014649368822575,
                        "pitch": -0.2355663776397705,
                        "yaw": 88.42642211914062
                    }
                },
                "velocity": {
                    "x": 0.19668322801589966,
                    "y": 7.046747207641602,
                    "z": -0.028246846050024033
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00013293761003296822,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": 0.037374794483184814,
                        "yaw": -1.7835694551467896
                    }
                },
                "velocity": {
                    "x": 3.338600436109118e-05,
                    "y": -2.4684770323801786e-05,
                    "z": 0.00012628715194296092
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004045903915539384,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.03272343426942825,
                        "yaw": -0.2019347995519638
                    }
                },
                "velocity": {
                    "x": -9.217886145052034e-06,
                    "y": -1.499437348684296e-05,
                    "z": 0.0004042073560412973
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091579366009682e-05,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.3344157196115702e-05,
                    "y": -1.513757979410002e-05,
                    "z": -7.835913129383698e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.45129680633545,
                "transform": {
                    "location": {
                        "x": 214.5137481689453,
                        "y": 5613.44873046875,
                        "z": 365.1802978515625
                    },
                    "rotation": {
                        "roll": -0.1019592210650444,
                        "pitch": -0.40744125843048096,
                        "yaw": 94.98585510253906
                    }
                },
                "velocity": {
                    "x": -1.225711703300476,
                    "y": 14.39885139465332,
                    "z": -0.10336269438266754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.880722999572754,
                "transform": {
                    "location": {
                        "x": 215.77061462402344,
                        "y": 5626.95166015625,
                        "z": 365.08935546875
                    },
                    "rotation": {
                        "roll": -0.006073010619729757,
                        "pitch": 0.37794166803359985,
                        "yaw": -81.54882049560547
                    }
                },
                "velocity": {
                    "x": 0.8101508021354675,
                    "y": -5.824497699737549,
                    "z": 0.0421939380466938
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6650853157043457,
                "transform": {
                    "location": {
                        "x": 217.30506896972656,
                        "y": 5613.66357421875,
                        "z": 365.1850280761719
                    },
                    "rotation": {
                        "roll": -0.010375980287790298,
                        "pitch": 0.39223724603652954,
                        "yaw": -84.56270599365234
                    }
                },
                "velocity": {
                    "x": 0.19712993502616882,
                    "y": -2.657726764678955,
                    "z": 0.01756448671221733
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.4405581057071686,
        "expert_target_speed": 0,
        "target_point": [
            13.819415045814065,
            -10.19073837686564
        ],
        "target_point_next": [
            12.267494241565766,
            -61.167115243848684
        ]
    },
    "370": {
        "acceleration": [
            -0.011268407106399536,
            -0.5362367630004883,
            0.015019960701465607
        ],
        "angular_velocity": [
            0.15916894376277924,
            0.027875391766428947,
            -1.2024325132369995
        ],
        "forward_vector": [
            0.02586797997355461,
            -0.9996234774589539,
            0.009146323427557945
        ],
        "right_vector": [
            0.9996653199195862,
            0.025866152718663216,
            -0.0003180484927725047
        ],
        "location": [
            218.49874877929688,
            5593.55419921875,
            365.31787109375
        ],
        "rotation": [
            0.0182235985994339,
            0.5240530371665955,
            -88.51764678955078
        ],
        "velocity": [
            0.06448808312416077,
            -2.9622209072113037,
            0.02029980532824993
        ],
        "speed": 2.9629227826564746,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.750784182680417,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.429447174072266,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -9.34757281356724e-06,
                2.536102147132624e-05,
                -0.00018282022210769355
            ],
            "speed_kmh": 0.0006653068060094397,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.06452465057373,
                "transform": {
                    "location": {
                        "x": 174.86280822753906,
                        "y": 5586.8134765625,
                        "z": 365.6900329589844
                    },
                    "rotation": {
                        "roll": -0.004913329612463713,
                        "pitch": -0.5832776427268982,
                        "yaw": 0.33505865931510925
                    }
                },
                "velocity": {
                    "x": 8.063653945922852,
                    "y": 0.03872964158654213,
                    "z": -0.11198603361845016
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.41671895980835,
                "transform": {
                    "location": {
                        "x": 179.2655487060547,
                        "y": 5583.578125,
                        "z": 365.59185791015625
                    },
                    "rotation": {
                        "roll": -0.0014648436335846782,
                        "pitch": -0.8429887294769287,
                        "yaw": 0.05446343123912811
                    }
                },
                "velocity": {
                    "x": 4.416250705718994,
                    "y": 0.0025120473001152277,
                    "z": -0.06427793204784393
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5633865594863892,
                "transform": {
                    "location": {
                        "x": 250.69921875,
                        "y": 5579.97509765625,
                        "z": 365.6305236816406
                    },
                    "rotation": {
                        "roll": 0.006985364481806755,
                        "pitch": -0.7803285717964172,
                        "yaw": 179.32125854492188
                    }
                },
                "velocity": {
                    "x": -1.5632925033569336,
                    "y": 0.0038957162760198116,
                    "z": -0.016705026850104332
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6814968585968018,
                "transform": {
                    "location": {
                        "x": 214.21804809570312,
                        "y": 5542.1787109375,
                        "z": 365.7140197753906
                    },
                    "rotation": {
                        "roll": 0.0010473199654370546,
                        "pitch": -0.4561746418476105,
                        "yaw": 88.4315185546875
                    }
                },
                "velocity": {
                    "x": 0.07693911343812943,
                    "y": 2.6803033351898193,
                    "z": -0.021899474784731865
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.8478763103485107,
                "transform": {
                    "location": {
                        "x": 192.28335571289062,
                        "y": 5583.5625,
                        "z": 365.4720153808594
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": 0.024827735498547554,
                        "yaw": -0.1727599948644638
                    }
                },
                "velocity": {
                    "x": 3.8478236198425293,
                    "y": -0.010068085975944996,
                    "z": -0.017429104074835777
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7680894136428833,
                "transform": {
                    "location": {
                        "x": 194.00726318359375,
                        "y": 5586.81005859375,
                        "z": 365.4577941894531
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.1972626894712448,
                        "yaw": -0.1053161472082138
                    }
                },
                "velocity": {
                    "x": 1.7680768966674805,
                    "y": -0.0039010175969451666,
                    "z": -0.005378208123147488
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.016056060791016,
                "transform": {
                    "location": {
                        "x": 214.70999145507812,
                        "y": 5558.9453125,
                        "z": 365.5894470214844
                    },
                    "rotation": {
                        "roll": 0.0007442596834152937,
                        "pitch": -0.2854267656803131,
                        "yaw": 88.45747375488281
                    }
                },
                "velocity": {
                    "x": 0.14876265823841095,
                    "y": 5.01370906829834,
                    "z": -0.03755298629403114
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.04649251326918602,
                "transform": {
                    "location": {
                        "x": 241.364990234375,
                        "y": 5579.99658203125,
                        "z": 365.58233642578125
                    },
                    "rotation": {
                        "roll": 0.000342801446095109,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.9320831298828
                    }
                },
                "velocity": {
                    "x": -0.046485550701618195,
                    "y": 0.0008031135657802224,
                    "z": 4.9552916607353836e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.299320220947266,
                "transform": {
                    "location": {
                        "x": 215.21241760253906,
                        "y": 5576.10498046875,
                        "z": 365.4474182128906
                    },
                    "rotation": {
                        "roll": -0.1083984225988388,
                        "pitch": -0.36181560158729553,
                        "yaw": 88.51416015625
                    }
                },
                "velocity": {
                    "x": 0.15163522958755493,
                    "y": 6.297283172607422,
                    "z": -0.05158999189734459
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.119512363511603e-06,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": 0.037443093955516815,
                        "yaw": -1.7835694551467896
                    }
                },
                "velocity": {
                    "x": -1.903474299069785e-06,
                    "y": -2.3045524812914664e-06,
                    "z": -5.339873951015761e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011809133866336197,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.03272343426942825,
                        "yaw": -0.2019347995519638
                    }
                },
                "velocity": {
                    "x": -6.713121820212109e-06,
                    "y": -3.828977423836477e-05,
                    "z": -0.00011150960199302062
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00018480744620319456,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -9.34757281356724e-06,
                    "y": 2.536102147132624e-05,
                    "z": -0.00018282022210769355
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.450713157653809,
                "transform": {
                    "location": {
                        "x": 214.17335510253906,
                        "y": 5617.044921875,
                        "z": 365.1544189453125
                    },
                    "rotation": {
                        "roll": -0.11691281944513321,
                        "pitch": -0.41372501850128174,
                        "yaw": 95.94602966308594
                    }
                },
                "velocity": {
                    "x": -1.4719642400741577,
                    "y": 14.375175476074219,
                    "z": -0.10373030602931976
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.277083873748779,
                "transform": {
                    "location": {
                        "x": 215.9922637939453,
                        "y": 5625.37255859375,
                        "z": 365.1009216308594
                    },
                    "rotation": {
                        "roll": 0.0005649972590617836,
                        "pitch": 0.38200563192367554,
                        "yaw": -81.88114929199219
                    }
                },
                "velocity": {
                    "x": 0.8614949584007263,
                    "y": -6.217507362365723,
                    "z": 0.04703019931912422
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2641961574554443,
                "transform": {
                    "location": {
                        "x": 217.35218811035156,
                        "y": 5613.06787109375,
                        "z": 365.1888122558594
                    },
                    "rotation": {
                        "roll": 0.0023218905553221703,
                        "pitch": 0.43409264087677,
                        "yaw": -84.84477996826172
                    }
                },
                "velocity": {
                    "x": 0.16990847885608673,
                    "y": -2.257746696472168,
                    "z": 0.01718151941895485
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.5289639234542847,
        "expert_target_speed": 0,
        "target_point": [
            13.12201626154305,
            -10.158232119247758
        ],
        "target_point_next": [
            11.680376213567294,
            -61.13784697302451
        ]
    },
    "375": {
        "acceleration": [
            -0.016787126660346985,
            -0.5475664138793945,
            0.000458545982837677
        ],
        "angular_velocity": [
            0.0676674172282219,
            0.05930197983980179,
            0.1836237609386444
        ],
        "forward_vector": [
            0.023851195350289345,
            -0.999678909778595,
            0.008553280495107174
        ],
        "right_vector": [
            0.9997155070304871,
            0.02384882979094982,
            -0.00037849691580049694
        ],
        "location": [
            218.51475524902344,
            5592.796875,
            365.3233642578125
        ],
        "rotation": [
            0.021687069907784462,
            0.4900728762149811,
            -88.63324737548828
        ],
        "velocity": [
            0.06083904206752777,
            -3.0986480712890625,
            0.021493587642908096
        ],
        "speed": 3.099245272440231,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.762013714579832,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.868358612060547,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -6.312131972663337e-07,
                1.2900331057608128e-05,
                -0.00026659254217520356
            ],
            "speed_kmh": 0.0009608588193244336,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.229371070861816,
                "transform": {
                    "location": {
                        "x": 176.94866943359375,
                        "y": 5586.822265625,
                        "z": 365.66241455078125
                    },
                    "rotation": {
                        "roll": 0.0018749590963125229,
                        "pitch": -0.7234126329421997,
                        "yaw": 0.22596821188926697
                    }
                },
                "velocity": {
                    "x": 8.228572845458984,
                    "y": 0.015099040232598782,
                    "z": -0.11359301954507828
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015708345454186201,
                "transform": {
                    "location": {
                        "x": 179.6453857421875,
                        "y": 5583.58251953125,
                        "z": 365.5871887207031
                    },
                    "rotation": {
                        "roll": 0.007558759301900864,
                        "pitch": -0.8846733570098877,
                        "yaw": -0.7397459745407104
                    }
                },
                "velocity": {
                    "x": -4.788890510099009e-05,
                    "y": -7.949993596412241e-05,
                    "z": 0.0015680904034525156
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0017751717241480947,
                "transform": {
                    "location": {
                        "x": 250.6602325439453,
                        "y": 5579.9716796875,
                        "z": 365.6297302246094
                    },
                    "rotation": {
                        "roll": 0.010664787143468857,
                        "pitch": -0.7152027487754822,
                        "yaw": 179.06573486328125
                    }
                },
                "velocity": {
                    "x": 0.0001848407118814066,
                    "y": 2.5064218789339066e-07,
                    "z": 0.0017655221745371819
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.292987108230591,
                "transform": {
                    "location": {
                        "x": 214.2392120361328,
                        "y": 5542.92626953125,
                        "z": 365.707763671875
                    },
                    "rotation": {
                        "roll": -0.00027468361076898873,
                        "pitch": -0.45430999994277954,
                        "yaw": 88.40314483642578
                    }
                },
                "velocity": {
                    "x": 0.09455515444278717,
                    "y": 3.2915241718292236,
                    "z": -0.02630874514579773
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.033487558364868,
                "transform": {
                    "location": {
                        "x": 193.1778106689453,
                        "y": 5583.56005859375,
                        "z": 365.4678955078125
                    },
                    "rotation": {
                        "roll": 0.00013358460273593664,
                        "pitch": -0.30526164174079895,
                        "yaw": -0.1622008979320526
                    }
                },
                "velocity": {
                    "x": 3.0334596633911133,
                    "y": -0.007674709893763065,
                    "z": -0.010454864241182804
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.302692174911499,
                "transform": {
                    "location": {
                        "x": 194.08148193359375,
                        "y": 5586.81005859375,
                        "z": 365.45794677734375
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -0.23477408289909363,
                        "yaw": -0.12933349609375
                    }
                },
                "velocity": {
                    "x": 0.302685409784317,
                    "y": -0.0006952978437766433,
                    "z": -0.0018986796494573355
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.651341438293457,
                "transform": {
                    "location": {
                        "x": 214.748046875,
                        "y": 5560.2529296875,
                        "z": 365.5802307128906
                    },
                    "rotation": {
                        "roll": 0.0006535669090226293,
                        "pitch": -0.40799450874328613,
                        "yaw": 88.35521697998047
                    }
                },
                "velocity": {
                    "x": 0.170552596449852,
                    "y": 5.648594379425049,
                    "z": -0.04417126998305321
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.7266826629638672,
                "transform": {
                    "location": {
                        "x": 241.2802276611328,
                        "y": 5579.99658203125,
                        "z": 365.5812683105469
                    },
                    "rotation": {
                        "roll": 0.0007679963600821793,
                        "pitch": -0.393856018781662,
                        "yaw": 179.90187072753906
                    }
                },
                "velocity": {
                    "x": -0.7266616821289062,
                    "y": 0.0024726660922169685,
                    "z": -0.004938535392284393
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.129064083099365,
                "transform": {
                    "location": {
                        "x": 215.24905395507812,
                        "y": 5577.6240234375,
                        "z": 365.4371337890625
                    },
                    "rotation": {
                        "roll": -0.11874385923147202,
                        "pitch": -0.5513942837715149,
                        "yaw": 88.6039810180664
                    }
                },
                "velocity": {
                    "x": 0.1468043327331543,
                    "y": 6.127086639404297,
                    "z": -0.051779311150312424
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0007731702062301338,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": 0.037559207528829575,
                        "yaw": -1.783569574356079
                    }
                },
                "velocity": {
                    "x": -1.3555683835875243e-05,
                    "y": -3.074582127737813e-05,
                    "z": 0.0007724397000856698
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010256377281621099,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.03272343426942825,
                        "yaw": -0.2019347995519638
                    }
                },
                "velocity": {
                    "x": -3.605140364015824e-06,
                    "y": -3.1643969577999087e-07,
                    "z": 0.0010256313253194094
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002669052337296307,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -6.312131972663337e-07,
                    "y": 1.2900331057608128e-05,
                    "z": -0.00026659254217520356
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.45058822631836,
                "transform": {
                    "location": {
                        "x": 213.7793731689453,
                        "y": 5620.63623046875,
                        "z": 365.12823486328125
                    },
                    "rotation": {
                        "roll": -0.12179563194513321,
                        "pitch": -0.4165049195289612,
                        "yaw": 96.74179077148438
                    }
                },
                "velocity": {
                    "x": -1.6985716819763184,
                    "y": 14.3500337600708,
                    "z": -0.10433729737997055
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.237059116363525,
                "transform": {
                    "location": {
                        "x": 216.18663024902344,
                        "y": 5623.97509765625,
                        "z": 365.10968017578125
                    },
                    "rotation": {
                        "roll": 0.004720982164144516,
                        "pitch": 0.5631285905838013,
                        "yaw": -82.0252914428711
                    }
                },
                "velocity": {
                    "x": 0.5796812176704407,
                    "y": -4.1971259117126465,
                    "z": 0.02778397500514984
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8681728839874268,
                "transform": {
                    "location": {
                        "x": 217.4013214111328,
                        "y": 5612.44091796875,
                        "z": 365.1939697265625
                    },
                    "rotation": {
                        "roll": 0.0017043121624737978,
                        "pitch": 0.35816144943237305,
                        "yaw": -85.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.21497736871242523,
                    "y": -2.860036849975586,
                    "z": 0.019741220399737358
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.633354902267456,
        "expert_target_speed": 0,
        "target_point": [
            12.384933634771146,
            -10.129751634881455
        ],
        "target_point_next": [
            11.045847927311327,
            -61.11216336809999
        ]
    },
    "380": {
        "acceleration": [
            -0.15211515128612518,
            -0.25610923767089844,
            0.005130395293235779
        ],
        "angular_velocity": [
            0.10324231535196304,
            0.10226055979728699,
            -1.8320423364639282
        ],
        "forward_vector": [
            0.020389333367347717,
            -0.9997590184211731,
            0.008135706186294556
        ],
        "right_vector": [
            0.9997919797897339,
            0.020384730771183968,
            -0.0006481178570538759
        ],
        "location": [
            218.5282745361328,
            5592.0087890625,
            365.3289489746094
        ],
        "rotation": [
            0.03713564947247505,
            0.4661467373371124,
            -88.83165740966797
        ],
        "velocity": [
            0.036407314240932465,
            -3.191404342651367,
            0.02140512503683567
        ],
        "speed": 3.191612001923831,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.7859403331765074,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.30263900756836,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -1.0532885426073335e-06,
                1.6485899323015474e-05,
                -0.000277785788057372
            ],
            "speed_kmh": 0.0010017955803880724,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.08439826965332,
                "transform": {
                    "location": {
                        "x": 178.85226440429688,
                        "y": 5586.826171875,
                        "z": 365.6372985839844
                    },
                    "rotation": {
                        "roll": 0.00043188207200728357,
                        "pitch": -0.8704529404640198,
                        "yaw": 0.08811088651418686
                    }
                },
                "velocity": {
                    "x": 7.083718299865723,
                    "y": 0.004654522519558668,
                    "z": -0.0980316549539566
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.792718768119812,
                "transform": {
                    "location": {
                        "x": 179.7440643310547,
                        "y": 5583.58154296875,
                        "z": 365.58526611328125
                    },
                    "rotation": {
                        "roll": 0.006546315737068653,
                        "pitch": -0.7751786112785339,
                        "yaw": -0.6740416884422302
                    }
                },
                "velocity": {
                    "x": 0.7926674485206604,
                    "y": 0.00017411635781172663,
                    "z": -0.009017686359584332
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00022094322775956243,
                "transform": {
                    "location": {
                        "x": 250.65975952148438,
                        "y": 5579.9716796875,
                        "z": 365.62908935546875
                    },
                    "rotation": {
                        "roll": 0.009164519608020782,
                        "pitch": -0.6413615345954895,
                        "yaw": 179.06568908691406
                    }
                },
                "velocity": {
                    "x": -1.322656862612348e-05,
                    "y": -2.5492226995993406e-05,
                    "z": 0.0002190687519032508
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.069130897521973,
                "transform": {
                    "location": {
                        "x": 214.265625,
                        "y": 5543.8447265625,
                        "z": 365.7001953125
                    },
                    "rotation": {
                        "roll": 0.00040149936103262007,
                        "pitch": -0.4490097761154175,
                        "yaw": 88.37418365478516
                    }
                },
                "velocity": {
                    "x": 0.11902029067277908,
                    "y": 4.067248344421387,
                    "z": -0.03391492739319801
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.004213219508528709,
                "transform": {
                    "location": {
                        "x": 193.6268768310547,
                        "y": 5583.55859375,
                        "z": 365.4664611816406
                    },
                    "rotation": {
                        "roll": 0.0006240677903406322,
                        "pitch": -0.7680957317352295,
                        "yaw": -0.0902099460363388
                    }
                },
                "velocity": {
                    "x": 0.004190436098724604,
                    "y": -0.0003906088531948626,
                    "z": 0.00019720010459423065
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005742662469856441,
                "transform": {
                    "location": {
                        "x": 194.1981201171875,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -0.1876867562532425,
                        "yaw": -0.1524352729320526
                    }
                },
                "velocity": {
                    "x": 0.00023578167019877583,
                    "y": 0.00020171779033262283,
                    "z": -0.00048321703798137605
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.587336540222168,
                "transform": {
                    "location": {
                        "x": 214.78225708007812,
                        "y": 5561.72607421875,
                        "z": 365.5687561035156
                    },
                    "rotation": {
                        "roll": 0.0385417602956295,
                        "pitch": -0.4194282293319702,
                        "yaw": 86.87481689453125
                    }
                },
                "velocity": {
                    "x": 0.18309396505355835,
                    "y": 5.584158897399902,
                    "z": -0.044430531561374664
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.7405457496643066,
                "transform": {
                    "location": {
                        "x": 241.01795959472656,
                        "y": 5579.998046875,
                        "z": 365.5794982910156
                    },
                    "rotation": {
                        "roll": -0.0007324217585846782,
                        "pitch": -0.39864397048950195,
                        "yaw": 179.96824645996094
                    }
                },
                "velocity": {
                    "x": -0.7405064702033997,
                    "y": 0.005749126430600882,
                    "z": -0.005007629282772541
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.278695106506348,
                "transform": {
                    "location": {
                        "x": 215.2889862060547,
                        "y": 5579.29443359375,
                        "z": 365.4210510253906
                    },
                    "rotation": {
                        "roll": -0.05395502969622612,
                        "pitch": -0.47818151116371155,
                        "yaw": 88.64408874511719
                    }
                },
                "velocity": {
                    "x": 0.16871830821037292,
                    "y": 7.27642822265625,
                    "z": -0.0673290342092514
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002704611688386649,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": 0.03766849264502525,
                        "yaw": -1.783569574356079
                    }
                },
                "velocity": {
                    "x": -2.2892258130013943e-05,
                    "y": 5.991811121930368e-05,
                    "z": 0.0002627451322041452
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00035008942359127104,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": 1.4582717994926497e-05,
                    "y": 3.5116936487611383e-06,
                    "z": 0.00034976794268004596
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002782765368465334,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.0532885426073335e-06,
                    "y": 1.6485899323015474e-05,
                    "z": -0.000277785788057372
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.45238971710205,
                "transform": {
                    "location": {
                        "x": 213.32937622070312,
                        "y": 5624.220703125,
                        "z": 365.1018981933594
                    },
                    "rotation": {
                        "roll": -0.09396358579397202,
                        "pitch": -0.42306873202323914,
                        "yaw": 97.53868865966797
                    }
                },
                "velocity": {
                    "x": -1.8691222667694092,
                    "y": 14.33061408996582,
                    "z": -0.1070491224527359
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00145923369564116,
                "transform": {
                    "location": {
                        "x": 216.2431182861328,
                        "y": 5623.56103515625,
                        "z": 365.1103820800781
                    },
                    "rotation": {
                        "roll": 0.006519495043903589,
                        "pitch": 0.8356189727783203,
                        "yaw": -82.05998229980469
                    }
                },
                "velocity": {
                    "x": -8.096429519355297e-05,
                    "y": 0.001227916101925075,
                    "z": 0.0007842385093681514
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0362954139709473,
                "transform": {
                    "location": {
                        "x": 217.45928955078125,
                        "y": 5611.6865234375,
                        "z": 365.1990661621094
                    },
                    "rotation": {
                        "roll": 0.002658455166965723,
                        "pitch": 0.37678053975105286,
                        "yaw": -85.26272583007812
                    }
                },
                "velocity": {
                    "x": 0.22782635688781738,
                    "y": -3.0276601314544678,
                    "z": 0.021439552307128906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.7622751593589783,
        "expert_target_speed": 0,
        "target_point": [
            11.631730703060862,
            -10.08425946436237
        ],
        "target_point_next": [
            10.469153293112175,
            -61.07100156888616
        ]
    },
    "385": {
        "acceleration": [
            -0.0826321542263031,
            2.162642478942871,
            0.011079981923103333
        ],
        "angular_velocity": [
            0.7271701097488403,
            -0.017909415066242218,
            -0.5242063999176025
        ],
        "forward_vector": [
            0.014875560998916626,
            -0.9998670816421509,
            0.0066726901568472385
        ],
        "right_vector": [
            0.9998891949653625,
            0.014871343970298767,
            -0.0006812099600210786
        ],
        "location": [
            218.5350799560547,
            5591.22412109375,
            365.334716796875
        ],
        "rotation": [
            0.03903133049607277,
            0.3823198080062866,
            -89.14764404296875
        ],
        "velocity": [
            0.01182612031698227,
            -2.969208002090454,
            0.02149234712123871
        ],
        "speed": 2.9692315532473614,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.818464466233607,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.76218032836914,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -5.4051911320129875e-06,
                1.1545115512490156e-06,
                -1.3464255971484818e-05
            ],
            "speed_kmh": 5.2396411073827e-05,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.972382068634033,
                "transform": {
                    "location": {
                        "x": 180.2175750732422,
                        "y": 5586.828125,
                        "z": 365.6212158203125
                    },
                    "rotation": {
                        "roll": -0.001953125,
                        "pitch": -1.1022354364395142,
                        "yaw": -0.016082763671875
                    }
                },
                "velocity": {
                    "x": 2.972121238708496,
                    "y": 0.0051350826397538185,
                    "z": -0.039035070687532425
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5952330827713013,
                "transform": {
                    "location": {
                        "x": 180.0398406982422,
                        "y": 5583.5810546875,
                        "z": 365.58123779296875
                    },
                    "rotation": {
                        "roll": 0.0055759018287062645,
                        "pitch": -0.7425166368484497,
                        "yaw": -0.64886474609375
                    }
                },
                "velocity": {
                    "x": 1.5951026678085327,
                    "y": -0.004015427548438311,
                    "z": -0.019998125731945038
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004629992472473532,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290588378906
                    },
                    "rotation": {
                        "roll": 0.00946822203695774,
                        "pitch": -0.6367784738540649,
                        "yaw": 179.065673828125
                    }
                },
                "velocity": {
                    "x": -1.5382765923277475e-05,
                    "y": -7.325952992687235e-06,
                    "z": 0.0004626856534741819
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.036122798919678,
                "transform": {
                    "location": {
                        "x": 214.2989044189453,
                        "y": 5544.98486328125,
                        "z": 365.6907043457031
                    },
                    "rotation": {
                        "roll": 0.0002882238768506795,
                        "pitch": -0.442288875579834,
                        "yaw": 88.34249114990234
                    }
                },
                "velocity": {
                    "x": 0.14839476346969604,
                    "y": 5.033769607543945,
                    "z": -0.04091867804527283
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.003930819220840931,
                "transform": {
                    "location": {
                        "x": 193.628662109375,
                        "y": 5583.55859375,
                        "z": 365.466552734375
                    },
                    "rotation": {
                        "roll": -0.0008544922457076609,
                        "pitch": -0.41640928387641907,
                        "yaw": -0.0903014987707138
                    }
                },
                "velocity": {
                    "x": -0.0036936383694410324,
                    "y": -0.00020289019448682666,
                    "z": 0.001329365186393261
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004026993119623512,
                "transform": {
                    "location": {
                        "x": 194.21116638183594,
                        "y": 5586.81005859375,
                        "z": 365.45721435546875
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": -0.1942369043827057,
                        "yaw": -0.1373596042394638
                    }
                },
                "velocity": {
                    "x": -1.6290805433527566e-05,
                    "y": 1.4143736734695267e-05,
                    "z": -0.00040212098974734545
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.325794219970703,
                "transform": {
                    "location": {
                        "x": 214.83038330078125,
                        "y": 5563.11669921875,
                        "z": 365.55865478515625
                    },
                    "rotation": {
                        "roll": 0.032411862164735794,
                        "pitch": -0.5248726606369019,
                        "yaw": 86.82183837890625
                    }
                },
                "velocity": {
                    "x": 0.1933397501707077,
                    "y": 5.322108745574951,
                    "z": -0.04312420263886452
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.20417919754981995,
                "transform": {
                    "location": {
                        "x": 240.90695190429688,
                        "y": 5579.99853515625,
                        "z": 365.5795593261719
                    },
                    "rotation": {
                        "roll": -0.0019836423452943563,
                        "pitch": -0.4997785687446594,
                        "yaw": 179.98553466796875
                    }
                },
                "velocity": {
                    "x": -0.20416563749313354,
                    "y": 0.00041617240640334785,
                    "z": -0.0023159217089414597
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.451728820800781,
                "transform": {
                    "location": {
                        "x": 215.32749938964844,
                        "y": 5581.2646484375,
                        "z": 365.40283203125
                    },
                    "rotation": {
                        "roll": -0.0162963829934597,
                        "pitch": -0.43606656789779663,
                        "yaw": 88.92150115966797
                    }
                },
                "velocity": {
                    "x": 0.13267354667186737,
                    "y": 8.450364112854004,
                    "z": -0.07392577826976776
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5781344447750598e-05,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": 0.037695810198783875,
                        "yaw": -1.7835694551467896
                    }
                },
                "velocity": {
                    "x": -3.7732533542111923e-08,
                    "y": -7.542367939095129e-07,
                    "z": 2.5770281354198232e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004283534944988787,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": -2.239434934381279e-06,
                    "y": -2.1634616132359952e-05,
                    "z": 0.00042780092917382717
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4554559129464906e-05,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -5.4051911320129875e-06,
                    "y": 1.1545115512490156e-06,
                    "z": -1.3464255971484818e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5095,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.451730728149414,
                "transform": {
                    "location": {
                        "x": 212.82179260253906,
                        "y": 5627.79736328125,
                        "z": 365.0749816894531
                    },
                    "rotation": {
                        "roll": -0.1093444749712944,
                        "pitch": -0.4287719428539276,
                        "yaw": 98.5714340209961
                    }
                },
                "velocity": {
                    "x": -2.1241815090179443,
                    "y": 14.29435920715332,
                    "z": -0.10801322758197784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0009095668792725,
                "transform": {
                    "location": {
                        "x": 216.25999450683594,
                        "y": 5623.4208984375,
                        "z": 365.1148681640625
                    },
                    "rotation": {
                        "roll": 0.002176074543967843,
                        "pitch": 0.4223583936691284,
                        "yaw": -82.1220932006836
                    }
                },
                "velocity": {
                    "x": 0.1170506700873375,
                    "y": -0.9940189123153687,
                    "z": 0.006743593141436577
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7326157093048096,
                "transform": {
                    "location": {
                        "x": 217.51617431640625,
                        "y": 5610.9453125,
                        "z": 365.2038879394531
                    },
                    "rotation": {
                        "roll": 0.0031694413628429174,
                        "pitch": 0.42486506700515747,
                        "yaw": -85.40689086914062
                    }
                },
                "velocity": {
                    "x": 0.20419272780418396,
                    "y": -2.724900722503662,
                    "z": 0.020248135551810265
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9276190996170044,
        "expert_target_speed": 0,
        "target_point": [
            10.902533992838482,
            -10.015034665777696
        ],
        "target_point_next": [
            10.021409810315472,
            -61.00741720319513
        ]
    },
    "390": {
        "acceleration": [
            -0.07039692997932434,
            2.513918876647949,
            0.0023138150572776794
        ],
        "angular_velocity": [
            0.44043394923210144,
            -0.05762038007378578,
            -2.0539162158966064
        ],
        "forward_vector": [
            0.009593700990080833,
            -0.9999465346336365,
            0.003866185899823904
        ],
        "right_vector": [
            0.9999538660049438,
            0.009591801092028618,
            -0.0005098384572193027
        ],
        "location": [
            218.53656005859375,
            5590.564453125,
            365.3399963378906
        ],
        "rotation": [
            0.02921180985867977,
            0.2215166836977005,
            -89.45030975341797
        ],
        "velocity": [
            -0.006644057109951973,
            -2.3397057056427,
            0.017253350466489792
        ],
        "speed": 2.3397151391808118,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.845281942143364,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.326398849487305,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -1.0414793905511033e-05,
                -1.1683418051688932e-05,
                -0.0001727463968563825
            ],
            "speed_kmh": 0.0006244343761353996,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.7766022086143494,
                "transform": {
                    "location": {
                        "x": 180.41929626464844,
                        "y": 5586.82861328125,
                        "z": 365.6182861328125
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -1.0437006950378418,
                        "yaw": -0.0482177697122097
                    }
                },
                "velocity": {
                    "x": 0.776565670967102,
                    "y": 0.00010795668640639633,
                    "z": -0.007531003560870886
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.115054130554199,
                "transform": {
                    "location": {
                        "x": 180.52975463867188,
                        "y": 5583.57861328125,
                        "z": 365.5748596191406
                    },
                    "rotation": {
                        "roll": 0.004820550791919231,
                        "pitch": -0.7261993288993835,
                        "yaw": -0.5107421278953552
                    }
                },
                "velocity": {
                    "x": 2.114899158477783,
                    "y": -0.0015262606320902705,
                    "z": -0.025554031133651733
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010187087173108011,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.00870701763778925,
                        "pitch": -0.6334453821182251,
                        "yaw": 179.0655517578125
                    }
                },
                "velocity": {
                    "x": -1.34515757963527e-05,
                    "y": -3.867587111017201e-06,
                    "z": 0.00010090476280311123
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.37420654296875,
                "transform": {
                    "location": {
                        "x": 214.33709716796875,
                        "y": 5546.30126953125,
                        "z": 365.680419921875
                    },
                    "rotation": {
                        "roll": 0.0002897050289902836,
                        "pitch": -0.45157110691070557,
                        "yaw": 88.28048706054688
                    }
                },
                "velocity": {
                    "x": 0.15920642018318176,
                    "y": 5.371671676635742,
                    "z": -0.04352179914712906
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013559545623138547,
                "transform": {
                    "location": {
                        "x": 193.62998962402344,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": -0.2695329189300537,
                        "yaw": -0.0903015062212944
                    }
                },
                "velocity": {
                    "x": -0.0008551062201149762,
                    "y": 3.660789298010059e-05,
                    "z": 0.001051696832291782
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000191681130672805,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": -2.2706203708366957e-06,
                    "y": -3.364612712175585e-05,
                    "z": -0.00018869138148147613
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.06729793548584,
                "transform": {
                    "location": {
                        "x": 214.8828887939453,
                        "y": 5564.43798828125,
                        "z": 365.5482482910156
                    },
                    "rotation": {
                        "roll": -0.00036623116466216743,
                        "pitch": -0.5296947956085205,
                        "yaw": 87.60088348388672
                    }
                },
                "velocity": {
                    "x": 0.1662101447582245,
                    "y": 5.064413547515869,
                    "z": -0.039945848286151886
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000687314139213413,
                "transform": {
                    "location": {
                        "x": 240.8770294189453,
                        "y": 5579.99853515625,
                        "z": 365.5791320800781
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": -0.4765286147594452,
                        "yaw": 179.98382568359375
                    }
                },
                "velocity": {
                    "x": 0.00017150264466181397,
                    "y": 0.00010297210974385962,
                    "z": 0.000657559372484684
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.72311782836914,
                "transform": {
                    "location": {
                        "x": 215.36343383789062,
                        "y": 5583.54345703125,
                        "z": 365.3830871582031
                    },
                    "rotation": {
                        "roll": 1.2286628589208703e-05,
                        "pitch": -0.39547476172447205,
                        "yaw": 89.12109375
                    }
                },
                "velocity": {
                    "x": 0.1441911906003952,
                    "y": 9.721762657165527,
                    "z": -0.0745171383023262
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00045889022294431925,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": 0.03787339851260185,
                        "yaw": -1.7835694551467896
                    }
                },
                "velocity": {
                    "x": -4.441994315129705e-05,
                    "y": 5.134686034580227e-06,
                    "z": 0.0004567063879221678
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005333115695975721,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": -3.787875130001339e-06,
                    "y": -7.251388069562381e-06,
                    "z": 0.0005332488217391074
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00017345399828627706,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.0414793905511033e-05,
                    "y": -1.1683418051688932e-05,
                    "z": -0.0001727463968563825
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8261957168579102,
                "transform": {
                    "location": {
                        "x": 216.3028106689453,
                        "y": 5623.06787109375,
                        "z": 365.1180725097656
                    },
                    "rotation": {
                        "roll": 0.0003682761744130403,
                        "pitch": 0.3346177935600281,
                        "yaw": -82.29814910888672
                    }
                },
                "velocity": {
                    "x": 0.21269625425338745,
                    "y": -1.8137190341949463,
                    "z": 0.013212737627327442
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9550955295562744,
                "transform": {
                    "location": {
                        "x": 217.568115234375,
                        "y": 5610.2607421875,
                        "z": 365.2090148925781
                    },
                    "rotation": {
                        "roll": 0.004002091009169817,
                        "pitch": 0.392496794462204,
                        "yaw": -85.48399353027344
                    }
                },
                "velocity": {
                    "x": 0.22148770093917847,
                    "y": -2.9467151165008545,
                    "z": 0.02006489783525467
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0004223585128784,
        "expert_target_speed": 0,
        "target_point": [
            10.295623813089081,
            -9.952465812035843
        ],
        "target_point_next": [
            9.683824540231171,
            -60.94879076116401
        ]
    },
    "395": {
        "acceleration": [
            -0.02524498850107193,
            2.1405458450317383,
            -0.020452886819839478
        ],
        "angular_velocity": [
            0.02474222518503666,
            -0.054630644619464874,
            0.08264720439910889
        ],
        "forward_vector": [
            0.005078585352748632,
            -0.9999827146530151,
            0.0029746247455477715
        ],
        "right_vector": [
            0.9999870657920837,
            0.005077487323433161,
            -0.00037653985782526433
        ],
        "location": [
            218.53428649902344,
            5590.0576171875,
            365.34375
        ],
        "rotation": [
            0.021574240177869797,
            0.17043370008468628,
            -89.70901489257812
        ],
        "velocity": [
            -0.0175627414137125,
            -1.761390209197998,
            0.012660359963774681
        ],
        "speed": 1.7614777656685117,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.004650115966797,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -1.3270843737700488e-05,
                -1.0365466550865676e-05,
                -2.7079126084572636e-05
            ],
            "speed_kmh": 0.00011479638882569272,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8177237510681152,
                "transform": {
                    "location": {
                        "x": 180.76272583007812,
                        "y": 5586.82861328125,
                        "z": 365.6112060546875
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.7137137651443481,
                        "yaw": -0.040313720703125
                    }
                },
                "velocity": {
                    "x": 1.8175760507583618,
                    "y": 2.9085984465382353e-07,
                    "z": -0.023172015324234962
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.20380979776382446,
                "transform": {
                    "location": {
                        "x": 180.77273559570312,
                        "y": 5583.578125,
                        "z": 365.572265625
                    },
                    "rotation": {
                        "roll": 0.005753655917942524,
                        "pitch": -0.7749600410461426,
                        "yaw": -0.4418029487133026
                    }
                },
                "velocity": {
                    "x": 0.2038009613752365,
                    "y": 4.156916475039907e-06,
                    "z": -0.0018969917437061667
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.554517752490938e-05,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008768669329583645,
                        "pitch": -0.6335068345069885,
                        "yaw": 179.06553649902344
                    }
                },
                "velocity": {
                    "x": -1.8960683519253507e-05,
                    "y": 1.595792855368927e-05,
                    "z": -2.54812966886675e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.422570705413818,
                "transform": {
                    "location": {
                        "x": 214.380615234375,
                        "y": 5547.763671875,
                        "z": 365.66827392578125
                    },
                    "rotation": {
                        "roll": -0.0014953598147258162,
                        "pitch": -0.4296257197856903,
                        "yaw": 88.26107025146484
                    }
                },
                "velocity": {
                    "x": 0.19165804982185364,
                    "y": 6.419496536254883,
                    "z": -0.05244278907775879
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00149459985550493,
                "transform": {
                    "location": {
                        "x": 193.63031005859375,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": -0.2410305291414261,
                        "yaw": -0.0903320237994194
                    }
                },
                "velocity": {
                    "x": -0.0002606897905934602,
                    "y": 5.457911538542248e-05,
                    "z": 0.0014706769725307822
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.641537189483643,
                "transform": {
                    "location": {
                        "x": 214.92335510253906,
                        "y": 5565.673828125,
                        "z": 365.5385437011719
                    },
                    "rotation": {
                        "roll": -0.005340575706213713,
                        "pitch": -0.5526715517044067,
                        "yaw": 87.76631927490234
                    }
                },
                "velocity": {
                    "x": 0.14308997988700867,
                    "y": 4.639171123504639,
                    "z": -0.03855418413877487
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015672933077439666,
                "transform": {
                    "location": {
                        "x": 240.8767852783203,
                        "y": 5579.99853515625,
                        "z": 365.5788879394531
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.45086759328842163,
                        "yaw": 179.98377990722656
                    }
                },
                "velocity": {
                    "x": 7.140278466977179e-05,
                    "y": 2.357819084863877e-06,
                    "z": 0.0015656641917303205
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.919700622558594,
                "transform": {
                    "location": {
                        "x": 215.398193359375,
                        "y": 5586.13037109375,
                        "z": 365.36334228515625
                    },
                    "rotation": {
                        "roll": -0.014739977195858955,
                        "pitch": -0.3105755150318146,
                        "yaw": 89.31538391113281
                    }
                },
                "velocity": {
                    "x": 0.08697514981031418,
                    "y": 10.919082641601562,
                    "z": -0.07704806327819824
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": 0.03787339851260185,
                        "yaw": -1.7835694551467896
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.181926775956526e-05,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": 8.428291948803235e-06,
                    "y": 6.660246435785666e-05,
                    "z": 2.551632496761158e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1887884688330814e-05,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.3270843737700488e-05,
                    "y": -1.0365466550865676e-05,
                    "z": -2.7079126084572636e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9399807453155518,
                "transform": {
                    "location": {
                        "x": 216.36436462402344,
                        "y": 5622.5576171875,
                        "z": 365.1214294433594
                    },
                    "rotation": {
                        "roll": 0.0027899290435016155,
                        "pitch": 0.3871692419052124,
                        "yaw": -82.53093719482422
                    }
                },
                "velocity": {
                    "x": 0.224411278963089,
                    "y": -1.9269087314605713,
                    "z": 0.013708018697798252
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7243356704711914,
                "transform": {
                    "location": {
                        "x": 217.62179565429688,
                        "y": 5609.55322265625,
                        "z": 365.2137756347656
                    },
                    "rotation": {
                        "roll": 0.003901514457538724,
                        "pitch": 0.41528230905532837,
                        "yaw": -85.55919647216797
                    }
                },
                "velocity": {
                    "x": 0.20355823636054993,
                    "y": -2.7166430950164795,
                    "z": 0.020464973524212837
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0004969835281372,
        "expert_target_speed": 10.0,
        "target_point": [
            9.83355837723629,
            -9.90110977273359
        ],
        "target_point_next": [
            9.45161186819171,
            -60.899674198916905
        ]
    },
    "400": {
        "acceleration": [
            -0.013437196612358093,
            1.6518449783325195,
            0.003400426357984543
        ],
        "angular_velocity": [
            -0.1457480490207672,
            -0.01089624222368002,
            -1.944244384765625
        ],
        "forward_vector": [
            0.001218387740664184,
            -0.9999940395355225,
            0.0032321156468242407
        ],
        "right_vector": [
            0.9999992847442627,
            0.0012177349999547005,
            -0.00020394414605107158
        ],
        "location": [
            218.5313262939453,
            5589.6806640625,
            365.3462829589844
        ],
        "rotation": [
            0.011685200966894627,
            0.18518690764904022,
            -89.93019104003906
        ],
        "velocity": [
            -0.01941576600074768,
            -1.2941248416900635,
            0.009669027291238308
        ],
        "speed": 1.2942704809462076,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.772662162780762,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -7.615647973580053e-06,
                3.2130110412254e-06,
                -9.391029379912652e-06
            ],
            "speed_kmh": 4.503785130337538e-05,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0969908237457275,
                "transform": {
                    "location": {
                        "x": 181.25601196289062,
                        "y": 5586.828125,
                        "z": 365.605224609375
                    },
                    "rotation": {
                        "roll": 0.0008572889491915703,
                        "pitch": -0.7393200993537903,
                        "yaw": -0.0462036170065403
                    }
                },
                "velocity": {
                    "x": 1.096887230873108,
                    "y": -0.000526576244737953,
                    "z": -0.01506746280938387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9376913905143738,
                "transform": {
                    "location": {
                        "x": 180.91709899902344,
                        "y": 5583.578125,
                        "z": 365.5699462890625
                    },
                    "rotation": {
                        "roll": 0.004957272671163082,
                        "pitch": -0.7214660048484802,
                        "yaw": -0.43811026215553284
                    }
                },
                "velocity": {
                    "x": 0.9376152753829956,
                    "y": -0.001151043688878417,
                    "z": -0.01189512200653553
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.307555718696676e-05,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.009116864763200283,
                        "pitch": -0.6333907246589661,
                        "yaw": 179.06553649902344
                    }
                },
                "velocity": {
                    "x": -1.6676784071023576e-05,
                    "y": -1.8477933281246806e-06,
                    "z": -3.967334487242624e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.483370304107666,
                "transform": {
                    "location": {
                        "x": 214.43272399902344,
                        "y": 5549.5029296875,
                        "z": 365.6541748046875
                    },
                    "rotation": {
                        "roll": -0.00024414583458565176,
                        "pitch": -0.42101967334747314,
                        "yaw": 88.2662124633789
                    }
                },
                "velocity": {
                    "x": 0.223737895488739,
                    "y": 7.479794979095459,
                    "z": -0.0586416982114315
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012138880556449294,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.09033203125
                    }
                },
                "velocity": {
                    "x": -3.608617771533318e-05,
                    "y": -7.949599967105314e-05,
                    "z": 0.0012107446091249585
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.527325630187988,
                "transform": {
                    "location": {
                        "x": 214.9590606689453,
                        "y": 5566.8076171875,
                        "z": 365.529296875
                    },
                    "rotation": {
                        "roll": 0.001008243067190051,
                        "pitch": -0.5298997163772583,
                        "yaw": 87.9554443359375
                    }
                },
                "velocity": {
                    "x": 0.13565723598003387,
                    "y": 4.525158405303955,
                    "z": -0.03492089360952377
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010266758035868406,
                "transform": {
                    "location": {
                        "x": 240.8767852783203,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.0015869140625,
                        "pitch": -0.4426508843898773,
                        "yaw": 179.98377990722656
                    }
                },
                "velocity": {
                    "x": 3.2836942409630865e-06,
                    "y": 3.704473783727735e-05,
                    "z": 0.0010260019917041063
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.66281795501709,
                "transform": {
                    "location": {
                        "x": 215.4188995361328,
                        "y": 5588.99169921875,
                        "z": 365.3436584472656
                    },
                    "rotation": {
                        "roll": -0.013977072201669216,
                        "pitch": -0.34335359930992126,
                        "yaw": 89.67928314208984
                    }
                },
                "velocity": {
                    "x": 0.0613655261695385,
                    "y": 11.662373542785645,
                    "z": -0.08123363554477692
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00018125856877304614,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": 0.037600189447402954,
                        "yaw": -1.7835694551467896
                    }
                },
                "velocity": {
                    "x": 3.651822908068425e-06,
                    "y": -2.0665559077315265e-06,
                    "z": 0.00018120999448001385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000882522901520133,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": -2.916846096923109e-05,
                    "y": -1.168587914435193e-05,
                    "z": 0.0008819632930681109
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2510514352470636e-05,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -7.615647973580053e-06,
                    "y": 3.2130110412254e-06,
                    "z": -9.391029379912652e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8671526908874512,
                "transform": {
                    "location": {
                        "x": 216.41709899902344,
                        "y": 5622.11669921875,
                        "z": 365.1244201660156
                    },
                    "rotation": {
                        "roll": 0.0024368553422391415,
                        "pitch": 0.41942140460014343,
                        "yaw": -82.68989562988281
                    }
                },
                "velocity": {
                    "x": 0.21679574251174927,
                    "y": -1.8544684648513794,
                    "z": 0.014337996952235699
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.270524263381958,
                "transform": {
                    "location": {
                        "x": 217.67015075683594,
                        "y": 5608.91162109375,
                        "z": 365.2181091308594
                    },
                    "rotation": {
                        "roll": 0.006334921345114708,
                        "pitch": 0.4415648877620697,
                        "yaw": -85.59069061279297
                    }
                },
                "velocity": {
                    "x": 0.17007726430892944,
                    "y": -2.264085531234741,
                    "z": 0.016459321603178978
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0002002716064453,
        "expert_target_speed": 10.0,
        "target_point": [
            9.49456900736786,
            -9.859834418510214
        ],
        "target_point_next": [
            9.308521940467964,
            -60.85948974240666
        ]
    },
    "405": {
        "acceleration": [
            0.016112998127937317,
            1.250549554824829,
            -0.0019239354878664017
        ],
        "angular_velocity": [
            -0.14274583756923676,
            -0.04853042587637901,
            0.7141972184181213
        ],
        "forward_vector": [
            -0.001446159672923386,
            -0.9999909996986389,
            0.003981579095125198
        ],
        "right_vector": [
            0.999998927116394,
            -0.0014465342974290252,
            -9.122583287535235e-05
        ],
        "location": [
            218.52780151367188,
            5589.40234375,
            365.3481140136719
        ],
        "rotation": [
            0.005226896610110998,
            0.22812829911708832,
            -90.0828628540039
        ],
        "velocity": [
            -0.017519332468509674,
            -0.9513770937919617,
            0.007713832892477512
        ],
        "speed": 0.9515383868253456,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.606077194213867,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -3.902725893567549e-06,
                1.0468041864442057e-06,
                -0.00025838936562649906
            ],
            "speed_kmh": 0.0009303154474322218,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8874897956848145,
                "transform": {
                    "location": {
                        "x": 181.35499572753906,
                        "y": 5586.82861328125,
                        "z": 365.60400390625
                    },
                    "rotation": {
                        "roll": 0.001048479462042451,
                        "pitch": -0.7467923760414124,
                        "yaw": -0.0722656175494194
                    }
                },
                "velocity": {
                    "x": 0.8874251246452332,
                    "y": -0.00031766408937983215,
                    "z": -0.010708446614444256
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8038196563720703,
                "transform": {
                    "location": {
                        "x": 181.2626495361328,
                        "y": 5583.5771484375,
                        "z": 365.56536865234375
                    },
                    "rotation": {
                        "roll": 0.004546371288597584,
                        "pitch": -0.6968363523483276,
                        "yaw": -0.3912352919578552
                    }
                },
                "velocity": {
                    "x": 1.8036730289459229,
                    "y": -0.0027876843232661486,
                    "z": -0.022830184549093246
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.162625423807185e-05,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.009068411774933338,
                        "pitch": -0.6335068345069885,
                        "yaw": 179.0654754638672
                    }
                },
                "velocity": {
                    "x": -1.8048211131826974e-05,
                    "y": -3.1092378094399464e-07,
                    "z": 1.1910509783774614e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.916794776916504,
                "transform": {
                    "location": {
                        "x": 214.4903106689453,
                        "y": 5551.4228515625,
                        "z": 365.6390686035156
                    },
                    "rotation": {
                        "roll": -0.001678474131040275,
                        "pitch": -0.4364900588989258,
                        "yaw": 88.27951049804688
                    }
                },
                "velocity": {
                    "x": 0.23713715374469757,
                    "y": 7.912981986999512,
                    "z": -0.06422430276870728
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001417155028320849,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.09033203125
                    }
                },
                "velocity": {
                    "x": 6.643812866968801e-06,
                    "y": 2.567735282354988e-05,
                    "z": 0.001416906830854714
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.511591911315918,
                "transform": {
                    "location": {
                        "x": 214.9949188232422,
                        "y": 5567.96435546875,
                        "z": 365.5196533203125
                    },
                    "rotation": {
                        "roll": -6.1033199017401785e-05,
                        "pitch": -0.4313332438468933,
                        "yaw": 88.12158966064453
                    }
                },
                "velocity": {
                    "x": 0.13238579034805298,
                    "y": 4.509500503540039,
                    "z": -0.03662428632378578
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.4410116374492645,
                        "yaw": 179.9837646484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.074691772460938,
                "transform": {
                    "location": {
                        "x": 215.4199981689453,
                        "y": 5592.1005859375,
                        "z": 365.3215637207031
                    },
                    "rotation": {
                        "roll": -0.02163698524236679,
                        "pitch": -0.3249872028827667,
                        "yaw": 90.20433044433594
                    }
                },
                "velocity": {
                    "x": -0.06750092655420303,
                    "y": 13.074188232421875,
                    "z": -0.09280791878700256
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005146845360286534,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0003356934175826609,
                        "pitch": 0.037709470838308334,
                        "yaw": -1.7835694551467896
                    }
                },
                "velocity": {
                    "x": -2.2518541300087236e-05,
                    "y": 4.219016045681201e-05,
                    "z": 0.0005124578601680696
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003304155543446541,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": -1.5169604921538848e-05,
                    "y": 3.8302852772176266e-05,
                    "z": 0.0003278371586930007
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002584209432825446,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -3.902725893567549e-06,
                    "y": 1.0468041864442057e-06,
                    "z": -0.00025838936562649906
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9350064992904663,
                "transform": {
                    "location": {
                        "x": 216.47811889648438,
                        "y": 5621.60498046875,
                        "z": 365.1282043457031
                    },
                    "rotation": {
                        "roll": 0.0026482853572815657,
                        "pitch": 0.4059181213378906,
                        "yaw": -82.83340454101562
                    }
                },
                "velocity": {
                    "x": 0.223868265748024,
                    "y": -1.9219679832458496,
                    "z": 0.01312461867928505
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8591800928115845,
                "transform": {
                    "location": {
                        "x": 217.70030212402344,
                        "y": 5608.40478515625,
                        "z": 365.2216796875
                    },
                    "rotation": {
                        "roll": 0.0016664961585775018,
                        "pitch": 0.4446999430656433,
                        "yaw": -85.89032745361328
                    }
                },
                "velocity": {
                    "x": 0.09973230212926865,
                    "y": -1.8564530611038208,
                    "z": 0.01363668404519558
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.999321460723877,
        "expert_target_speed": 10.0,
        "target_point": [
            9.242516784886801,
            -9.831338580099898
        ],
        "target_point_next": [
            9.192540461247972,
            -60.83130876670311
        ]
    },
    "410": {
        "acceleration": [
            -0.010930225253105164,
            0.8765089511871338,
            0.003793146461248398
        ],
        "angular_velocity": [
            -0.14722712337970734,
            -0.0109191769734025,
            -1.7486472129821777
        ],
        "forward_vector": [
            -0.003946771379560232,
            -0.9999812245368958,
            0.004678589291870594
        ],
        "right_vector": [
            0.9999921917915344,
            -0.003947008401155472,
            -4.141078898101114e-05
        ],
        "location": [
            218.52452087402344,
            5589.19970703125,
            365.3493957519531
        ],
        "rotation": [
            0.0023726895451545715,
            0.2680644094944,
            -90.22613525390625
        ],
        "velocity": [
            -0.015784047544002533,
            -0.6912071108818054,
            0.00590281467884779
        ],
        "speed": 0.6913873055606704,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.487386703491211,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -6.44480815026327e-06,
                -1.0098490292875795e-06,
                -5.797601261292584e-07
            ],
            "speed_kmh": 2.3576968374139e-05,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6146384477615356,
                "transform": {
                    "location": {
                        "x": 181.67623901367188,
                        "y": 5586.82861328125,
                        "z": 365.5990905761719
                    },
                    "rotation": {
                        "roll": 0.0007409224635921419,
                        "pitch": -0.6444078087806702,
                        "yaw": -0.0893249362707138
                    }
                },
                "velocity": {
                    "x": 1.6145174503326416,
                    "y": -0.001836860436014831,
                    "z": -0.01968076266348362
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.005183219909668,
                "transform": {
                    "location": {
                        "x": 181.7824249267578,
                        "y": 5583.57568359375,
                        "z": 365.5587158203125
                    },
                    "rotation": {
                        "roll": 0.0025160321965813637,
                        "pitch": -0.6868847608566284,
                        "yaw": -0.3109435737133026
                    }
                },
                "velocity": {
                    "x": 2.005009412765503,
                    "y": -0.002511837752535939,
                    "z": -0.026274800300598145
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00014101871056482196,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.00889785960316658,
                        "pitch": -0.6334521770477295,
                        "yaw": 179.0654296875
                    }
                },
                "velocity": {
                    "x": -1.9613802578533068e-05,
                    "y": -1.2570199032779783e-05,
                    "z": 0.00013908115215599537
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.132329940795898,
                "transform": {
                    "location": {
                        "x": 214.546875,
                        "y": 5553.314453125,
                        "z": 365.62420654296875
                    },
                    "rotation": {
                        "roll": -0.0007629796746186912,
                        "pitch": -0.4758045971393585,
                        "yaw": 88.28944396972656
                    }
                },
                "velocity": {
                    "x": 0.21304713189601898,
                    "y": 7.128914833068848,
                    "z": -0.057614412158727646
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011604882311075926,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.09033203125
                    }
                },
                "velocity": {
                    "x": 2.4934914108598605e-05,
                    "y": -9.334216883871704e-05,
                    "z": 0.0011564594460651278
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.139936923980713,
                "transform": {
                    "location": {
                        "x": 215.0270233154297,
                        "y": 5569.03759765625,
                        "z": 365.51202392578125
                    },
                    "rotation": {
                        "roll": 0.006359288468956947,
                        "pitch": -0.5336904525756836,
                        "yaw": 88.2289810180664
                    }
                },
                "velocity": {
                    "x": 0.11827017366886139,
                    "y": 4.138118743896484,
                    "z": -0.03257780894637108
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011397888883948326,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.4410116374492645,
                        "yaw": 179.9837646484375
                    }
                },
                "velocity": {
                    "x": -4.977732714905869e-06,
                    "y": 6.349739123834297e-05,
                    "z": 0.0011380078503862023
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.011713027954102,
                "transform": {
                    "location": {
                        "x": 215.3922576904297,
                        "y": 5595.494140625,
                        "z": 365.2975769042969
                    },
                    "rotation": {
                        "roll": -0.0317077562212944,
                        "pitch": -0.33745914697647095,
                        "yaw": 90.75804138183594
                    }
                },
                "velocity": {
                    "x": -0.24718940258026123,
                    "y": 14.009174346923828,
                    "z": -0.10015195608139038
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002644708729349077,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.037641171365976334,
                        "yaw": -1.7835694551467896
                    }
                },
                "velocity": {
                    "x": 2.976739779114723e-06,
                    "y": -4.363126208772883e-06,
                    "z": 0.0002644181367941201
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3739963580737822e-05,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": -8.876947390490386e-07,
                    "y": 2.1698122054658597e-06,
                    "z": 2.3623922970728017e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.5491581153764855e-06,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -6.44480815026327e-06,
                    "y": -1.0098490292875795e-06,
                    "z": -5.797601261292584e-07
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8609917163848877,
                "transform": {
                    "location": {
                        "x": 216.5300750732422,
                        "y": 5621.166015625,
                        "z": 365.13128662109375
                    },
                    "rotation": {
                        "roll": 0.0032512967009097338,
                        "pitch": 0.41917550563812256,
                        "yaw": -82.93099212646484
                    }
                },
                "velocity": {
                    "x": 0.21572189033031464,
                    "y": -1.8483949899673462,
                    "z": 0.013796214945614338
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7990120649337769,
                "transform": {
                    "location": {
                        "x": 217.7255401611328,
                        "y": 5607.96630859375,
                        "z": 365.22503662109375
                    },
                    "rotation": {
                        "roll": 0.004945786669850349,
                        "pitch": 0.41505691409111023,
                        "yaw": -86.07501220703125
                    }
                },
                "velocity": {
                    "x": 0.09730703383684158,
                    "y": -1.7963248491287231,
                    "z": 0.013880300335586071
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.001310110092163,
        "expert_target_speed": 10.0,
        "target_point": [
            9.064694618580981,
            -9.805460418596208
        ],
        "target_point_next": [
            9.143655963182479,
            -60.805393965350945
        ]
    },
    "415": {
        "acceleration": [
            0.022202059626579285,
            0.7125270366668701,
            -0.0054420530796051025
        ],
        "angular_velocity": [
            -0.12819449603557587,
            -0.04258856177330017,
            0.9891154766082764
        ],
        "forward_vector": [
            -0.005379500798881054,
            -0.9999716877937317,
            0.005260442849248648
        ],
        "right_vector": [
            0.9999855160713196,
            -0.005379607900977135,
            -6.22030302110943e-06
        ],
        "location": [
            218.52101135253906,
            5589.0537109375,
            365.3502502441406
        ],
        "rotation": [
            0.0003564020444173366,
            0.30140256881713867,
            -90.3082275390625
        ],
        "velocity": [
            -0.0115748830139637,
            -0.4921375513076782,
            0.004684619605541229
        ],
        "speed": 0.4922736508527595,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.403885841369629,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -2.37714493778185e-06,
                2.943966364910011e-06,
                -0.00016305543249472976
            ],
            "speed_kmh": 0.0005871575921452859,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.429293394088745,
                "transform": {
                    "location": {
                        "x": 182.20257568359375,
                        "y": 5586.8271484375,
                        "z": 365.5921325683594
                    },
                    "rotation": {
                        "roll": 0.0012461774749681354,
                        "pitch": -0.6025660634040833,
                        "yaw": -0.098297119140625
                    }
                },
                "velocity": {
                    "x": 2.4291207790374756,
                    "y": -0.0034404988400638103,
                    "z": -0.028757398948073387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.34060895442962646,
                "transform": {
                    "location": {
                        "x": 181.95452880859375,
                        "y": 5583.57470703125,
                        "z": 365.5567626953125
                    },
                    "rotation": {
                        "roll": 0.0037133253645151854,
                        "pitch": -0.723050594329834,
                        "yaw": -0.309783935546875
                    }
                },
                "velocity": {
                    "x": 0.3405854105949402,
                    "y": -0.0006769890314899385,
                    "z": -0.003945188596844673
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.350408926256932e-05,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.00889785960316658,
                        "pitch": -0.6334521770477295,
                        "yaw": 179.0654296875
                    }
                },
                "velocity": {
                    "x": -1.8740147424978204e-05,
                    "y": 7.97141547081992e-06,
                    "z": 3.844306411338039e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.184787750244141,
                "transform": {
                    "location": {
                        "x": 214.5965576171875,
                        "y": 5554.97216796875,
                        "z": 365.6111755371094
                    },
                    "rotation": {
                        "roll": -0.0017089700559154153,
                        "pitch": -0.4884677827358246,
                        "yaw": 88.29051208496094
                    }
                },
                "velocity": {
                    "x": 0.18563830852508545,
                    "y": 6.181807041168213,
                    "z": -0.04902574419975281
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013684623409062624,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.09033203125
                    }
                },
                "velocity": {
                    "x": 1.7703436242300086e-05,
                    "y": -1.0651153388607781e-05,
                    "z": 0.0013683063443750143
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.072145462036133,
                "transform": {
                    "location": {
                        "x": 215.0563201904297,
                        "y": 5570.056640625,
                        "z": 365.50384521484375
                    },
                    "rotation": {
                        "roll": 0.019936705008149147,
                        "pitch": -0.4861455261707306,
                        "yaw": 88.29475402832031
                    }
                },
                "velocity": {
                    "x": 0.11134342104196548,
                    "y": 4.0705180168151855,
                    "z": -0.02920203097164631
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00020235894771758467,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.4410116374492645,
                        "yaw": 179.9837646484375
                    }
                },
                "velocity": {
                    "x": -1.2500807315518614e-05,
                    "y": -6.104120870986662e-07,
                    "z": 0.00020197153207845986
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.573349952697754,
                "transform": {
                    "location": {
                        "x": 215.31951904296875,
                        "y": 5599.08544921875,
                        "z": 365.2721862792969
                    },
                    "rotation": {
                        "roll": -0.02093506045639515,
                        "pitch": -0.3599851131439209,
                        "yaw": 91.44893646240234
                    }
                },
                "velocity": {
                    "x": -0.35296401381492615,
                    "y": 14.568705558776855,
                    "z": -0.10377883911132812
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00010949050192721188,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.037641171365976334,
                        "yaw": -1.7835694551467896
                    }
                },
                "velocity": {
                    "x": -3.0455830710707232e-06,
                    "y": 2.6189384243480163e-06,
                    "z": 0.0001094167964765802
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00047907832777127624,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": -8.213663932110649e-06,
                    "y": -7.559508048871066e-06,
                    "z": 0.0004789482627529651
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00016309933562297374,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -2.37714493778185e-06,
                    "y": 2.943966364910011e-06,
                    "z": -0.00016305543249472976
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9248590469360352,
                "transform": {
                    "location": {
                        "x": 216.59007263183594,
                        "y": 5620.65673828125,
                        "z": 365.1350402832031
                    },
                    "rotation": {
                        "roll": 0.004545016214251518,
                        "pitch": 0.40348657965660095,
                        "yaw": -83.02346801757812
                    }
                },
                "velocity": {
                    "x": 0.22281238436698914,
                    "y": -1.9118726253509521,
                    "z": 0.013405485078692436
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.107208490371704,
                "transform": {
                    "location": {
                        "x": 217.75491333007812,
                        "y": 5607.45068359375,
                        "z": 365.22900390625
                    },
                    "rotation": {
                        "roll": 0.0014580495189875364,
                        "pitch": 0.3734610676765442,
                        "yaw": -86.26919555664062
                    }
                },
                "velocity": {
                    "x": 0.11323409527540207,
                    "y": -2.1041197776794434,
                    "z": 0.013636092655360699
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9998548030853271,
        "expert_target_speed": 10.0,
        "target_point": [
            8.9325919281479,
            -9.789857467092492
        ],
        "target_point_next": [
            9.08394982976238,
            -60.78962753964243
        ]
    },
    "420": {
        "acceleration": [
            0.009463541209697723,
            0.540924072265625,
            0.009763911366462708
        ],
        "angular_velocity": [
            -0.10630332678556442,
            -0.0486002080142498,
            -1.571624755859375
        ],
        "forward_vector": [
            -0.006772518623620272,
            -0.9999606609344482,
            0.005720583721995354
        ],
        "right_vector": [
            0.9999770522117615,
            -0.006772605236619711,
            4.260800324118463e-06
        ],
        "location": [
            218.5192108154297,
            5588.951171875,
            365.35101318359375
        ],
        "rotation": [
            -0.0002441299002384767,
            0.32776710391044617,
            -90.38804626464844
        ],
        "velocity": [
            -0.008628115989267826,
            -0.3420696556568146,
            0.0024852657224982977
        ],
        "speed": 0.3421784530134765,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.345257759094238,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                5.389191301219398e-06,
                2.369798039580928e-06,
                0.00013004786160308868
            ],
            "speed_kmh": 0.0004686517779821462,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005486654699780047,
                "transform": {
                    "location": {
                        "x": 182.53623962402344,
                        "y": 5586.826171875,
                        "z": 365.590576171875
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": -0.8851856589317322,
                        "yaw": 0.008403974585235119
                    }
                },
                "velocity": {
                    "x": 0.000296060141408816,
                    "y": 6.23876039753668e-05,
                    "z": 0.00045770074939355254
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1189252138137817,
                "transform": {
                    "location": {
                        "x": 182.14585876464844,
                        "y": 5583.57421875,
                        "z": 365.5540466308594
                    },
                    "rotation": {
                        "roll": 0.0009851498762145638,
                        "pitch": -0.6771585941314697,
                        "yaw": -0.2313232272863388
                    }
                },
                "velocity": {
                    "x": 1.1188491582870483,
                    "y": -0.0009636342874728143,
                    "z": -0.01300641056150198
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003612262662500143,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.00889785960316658,
                        "pitch": -0.6334521770477295,
                        "yaw": 179.0654296875
                    }
                },
                "velocity": {
                    "x": -2.3231878003571182e-05,
                    "y": 8.469494787277654e-06,
                    "z": 0.00036037893733009696
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.620623826980591,
                "transform": {
                    "location": {
                        "x": 214.63499450683594,
                        "y": 5556.201171875,
                        "z": 365.60174560546875
                    },
                    "rotation": {
                        "roll": -0.0021362402476370335,
                        "pitch": -0.5505132079124451,
                        "yaw": 88.513671875
                    }
                },
                "velocity": {
                    "x": 0.07313799113035202,
                    "y": 2.619511604309082,
                    "z": -0.0218907929956913
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001204541651532054,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.09033203125
                    }
                },
                "velocity": {
                    "x": 3.6514065868686885e-05,
                    "y": 8.328910917043686e-05,
                    "z": 0.0012011037906631827
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.802209854125977,
                "transform": {
                    "location": {
                        "x": 215.08663940429688,
                        "y": 5571.15380859375,
                        "z": 365.49444580078125
                    },
                    "rotation": {
                        "roll": 0.01973980851471424,
                        "pitch": -0.2921818196773529,
                        "yaw": 88.3670883178711
                    }
                },
                "velocity": {
                    "x": 0.1294439136981964,
                    "y": 4.80034065246582,
                    "z": -0.03456252068281174
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010460555786266923,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.4410116374492645,
                        "yaw": 179.9837646484375
                    }
                },
                "velocity": {
                    "x": -1.3438611858873628e-05,
                    "y": -3.0239345960580977e-07,
                    "z": 0.0010459691984578967
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.51711368560791,
                "transform": {
                    "location": {
                        "x": 215.19296264648438,
                        "y": 5602.72412109375,
                        "z": 365.2466735839844
                    },
                    "rotation": {
                        "roll": -0.03540040925145149,
                        "pitch": -0.3992313742637634,
                        "yaw": 92.42406463623047
                    }
                },
                "velocity": {
                    "x": -0.6150650382041931,
                    "y": 14.503710746765137,
                    "z": -0.10323753952980042
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1649708287441172e-05,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": 0.037579700350761414,
                        "yaw": -1.7835694551467896
                    }
                },
                "velocity": {
                    "x": 1.7494894422043217e-08,
                    "y": -2.1317409846233204e-05,
                    "z": 3.7785748645546846e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005687426310032606,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": -3.913007731171092e-06,
                    "y": -5.0830672080337536e-06,
                    "z": 0.0005687064258381724
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001301810407312587,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": 5.389191301219398e-06,
                    "y": 2.369798039580928e-06,
                    "z": 0.00013004786160308868
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.849839210510254,
                "transform": {
                    "location": {
                        "x": 216.6414794921875,
                        "y": 5620.220703125,
                        "z": 365.13812255859375
                    },
                    "rotation": {
                        "roll": 0.0035797276068478823,
                        "pitch": 0.4177206754684448,
                        "yaw": -83.08409881591797
                    }
                },
                "velocity": {
                    "x": 0.21427994966506958,
                    "y": -1.8373382091522217,
                    "z": 0.013334427028894424
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1927911639213562,
                "transform": {
                    "location": {
                        "x": 217.7742156982422,
                        "y": 5607.111328125,
                        "z": 365.2297668457031
                    },
                    "rotation": {
                        "roll": 0.005431288853287697,
                        "pitch": 0.5761605501174927,
                        "yaw": -86.41363525390625
                    }
                },
                "velocity": {
                    "x": 0.010515903122723103,
                    "y": -0.19249331951141357,
                    "z": 0.0020422935485839844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0000494718551636,
        "expert_target_speed": 0,
        "target_point": [
            8.843772638938352,
            -9.77620656571136
        ],
        "target_point_next": [
            9.06669996494615,
            -60.775714015045224
        ]
    },
    "425": {
        "acceleration": [
            0.0450289249420166,
            0.2215808629989624,
            0.009018516167998314
        ],
        "angular_velocity": [
            -0.14699812233448029,
            -0.01371836382895708,
            0.8928533792495728
        ],
        "forward_vector": [
            -0.007490818854421377,
            -0.9999522566795349,
            0.00626834062859416
        ],
        "right_vector": [
            0.9999719262123108,
            -0.007490919437259436,
            7.4573322308424395e-06
        ],
        "location": [
            218.5174102783203,
            5588.875,
            365.3513488769531
        ],
        "rotation": [
            -0.000427282095188275,
            0.35915181040763855,
            -90.42920684814453
        ],
        "velocity": [
            -0.006315590813755989,
            -0.27665117383003235,
            0.002374315168708563
        ],
        "speed": 0.27672325285176447,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.302383422851562,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -1.2426468856574502e-05,
                -2.2384630938176997e-05,
                -0.0001550531742395833
            ],
            "speed_kmh": 0.0005657497721717535,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1586583852767944,
                "transform": {
                    "location": {
                        "x": 182.71812438964844,
                        "y": 5586.826171875,
                        "z": 365.5865783691406
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.6732448935508728,
                        "yaw": 0.020754363387823105
                    }
                },
                "velocity": {
                    "x": 1.158568263053894,
                    "y": -0.0025346195325255394,
                    "z": -0.014233378693461418
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.929338812828064,
                "transform": {
                    "location": {
                        "x": 182.53671264648438,
                        "y": 5583.57373046875,
                        "z": 365.54937744140625
                    },
                    "rotation": {
                        "roll": 0.0011377139016985893,
                        "pitch": -0.6699731945991516,
                        "yaw": -0.212615966796875
                    }
                },
                "velocity": {
                    "x": 1.9291940927505493,
                    "y": -0.002047631423920393,
                    "z": -0.023540368303656578
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003544551145751029,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008838964626193047,
                        "pitch": -0.6335068345069885,
                        "yaw": 179.0653076171875
                    }
                },
                "velocity": {
                    "x": -2.1383539205999114e-05,
                    "y": 2.5910179829224944e-05,
                    "z": 0.00035285952617414296
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7013511657714844,
                "transform": {
                    "location": {
                        "x": 214.65562438964844,
                        "y": 5556.826171875,
                        "z": 365.59625244140625
                    },
                    "rotation": {
                        "roll": -0.004180893301963806,
                        "pitch": -0.486965149641037,
                        "yaw": 88.8218994140625
                    }
                },
                "velocity": {
                    "x": 0.07767171412706375,
                    "y": 2.7001607418060303,
                    "z": -0.019933752715587616
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011313129216432571,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.09033203125
                    }
                },
                "velocity": {
                    "x": -2.7642510758596472e-05,
                    "y": -8.32343939691782e-05,
                    "z": 0.0011279082391411066
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.100576877593994,
                "transform": {
                    "location": {
                        "x": 215.1209259033203,
                        "y": 5572.4091796875,
                        "z": 365.4852294921875
                    },
                    "rotation": {
                        "roll": 0.046048808842897415,
                        "pitch": -0.29059037566185,
                        "yaw": 88.41564178466797
                    }
                },
                "velocity": {
                    "x": 0.13697950541973114,
                    "y": 5.098596572875977,
                    "z": -0.03788404539227486
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006089031230658293,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.4410116374492645,
                        "yaw": 179.9837646484375
                    }
                },
                "velocity": {
                    "x": -2.7507319828146137e-05,
                    "y": 3.0193828933988698e-05,
                    "z": 0.0006075316341593862
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.448394775390625,
                "transform": {
                    "location": {
                        "x": 215.01710510253906,
                        "y": 5606.33740234375,
                        "z": 365.22100830078125
                    },
                    "rotation": {
                        "roll": -0.045989990234375,
                        "pitch": -0.4095381200313568,
                        "yaw": 93.26615142822266
                    }
                },
                "velocity": {
                    "x": -0.8654447197914124,
                    "y": 14.422080039978027,
                    "z": -0.10350862890481949
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00019345265172887594,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.037750452756881714,
                        "yaw": -1.783538818359375
                    }
                },
                "velocity": {
                    "x": 2.43180420511635e-06,
                    "y": 1.2664296264119912e-05,
                    "z": 0.00019302235159557313
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009248869027942419,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": 5.1415013331279624e-06,
                    "y": 4.218261892674491e-05,
                    "z": 0.0009239101782441139
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00015715271001681685,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.2426468856574502e-05,
                    "y": -2.2384630938176997e-05,
                    "z": -0.0001550531742395833
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9190515279769897,
                "transform": {
                    "location": {
                        "x": 216.7010040283203,
                        "y": 5619.712890625,
                        "z": 365.1418762207031
                    },
                    "rotation": {
                        "roll": 0.004350484348833561,
                        "pitch": 0.40270793437957764,
                        "yaw": -83.14297485351562
                    }
                },
                "velocity": {
                    "x": 0.22200335562229156,
                    "y": -1.9061217308044434,
                    "z": 0.013157186098396778
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0127716064453125,
                "transform": {
                    "location": {
                        "x": 217.7831268310547,
                        "y": 5606.947265625,
                        "z": 365.232421875
                    },
                    "rotation": {
                        "roll": 0.002573399106040597,
                        "pitch": 0.38715559244155884,
                        "yaw": -86.45015716552734
                    }
                },
                "velocity": {
                    "x": 0.05556607246398926,
                    "y": -1.0112276077270508,
                    "z": 0.006116218399256468
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9997886419296265,
        "expert_target_speed": 0,
        "target_point": [
            8.774537717734258,
            -9.768686160544204
        ],
        "target_point_next": [
            9.033723808506915,
            -60.768022227180325
        ]
    },
    "430": {
        "acceleration": [
            0.052944034337997437,
            1.2988450527191162,
            -0.002954674419015646
        ],
        "angular_velocity": [
            0.1341913789510727,
            -0.06458994746208191,
            -0.7301612496376038
        ],
        "forward_vector": [
            -0.008357764221727848,
            -0.9999431371688843,
            0.006622027605772018
        ],
        "right_vector": [
            0.9999650716781616,
            -0.008357817307114601,
            1.970724952116143e-05
        ],
        "location": [
            218.51577758789062,
            5588.8134765625,
            365.3516845703125
        ],
        "rotation": [
            -0.0011291670380160213,
            0.3794170022010803,
            -90.4788818359375
        ],
        "velocity": [
            -0.003852107794955373,
            -0.2000829130411148,
            0.0019021319458261132
        ],
        "speed": 0.20011999106906403,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.26809024810791,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -5.974974556011148e-06,
                8.65922720549861e-06,
                -0.00016907059762161225
            ],
            "speed_kmh": 0.0006098313879578864,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9552922248840332,
                "transform": {
                    "location": {
                        "x": 183.1144561767578,
                        "y": 5586.826171875,
                        "z": 365.5813293457031
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.6191360950469971,
                        "yaw": -0.0021057126577943563
                    }
                },
                "velocity": {
                    "x": 1.9551643133163452,
                    "y": -0.0025968127883970737,
                    "z": -0.022216280922293663
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7747031450271606,
                "transform": {
                    "location": {
                        "x": 183.06272888183594,
                        "y": 5583.572265625,
                        "z": 365.54315185546875
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.6874926686286926,
                        "yaw": -0.1716613620519638
                    }
                },
                "velocity": {
                    "x": 1.7745802402496338,
                    "y": -0.0016620031092315912,
                    "z": -0.020813727751374245
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290588378906
                    },
                    "rotation": {
                        "roll": 0.008934296667575836,
                        "pitch": -0.6335751414299011,
                        "yaw": 179.06527709960938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.261763572692871,
                "transform": {
                    "location": {
                        "x": 214.6756134033203,
                        "y": 5557.5703125,
                        "z": 365.59002685546875
                    },
                    "rotation": {
                        "roll": -0.003967280965298414,
                        "pitch": -0.4358821511268616,
                        "yaw": 88.66791534423828
                    }
                },
                "velocity": {
                    "x": 0.09409519284963608,
                    "y": 3.260305166244507,
                    "z": -0.025647811591625214
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011651187669485807,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.09033203125
                    }
                },
                "velocity": {
                    "x": 8.950363735493738e-06,
                    "y": 1.3476259482558817e-05,
                    "z": 0.0011650064261630177
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.004610061645508,
                "transform": {
                    "location": {
                        "x": 215.15655517578125,
                        "y": 5573.76318359375,
                        "z": 365.4769592285156
                    },
                    "rotation": {
                        "roll": 0.019163036718964577,
                        "pitch": -0.21542415022850037,
                        "yaw": 88.36016845703125
                    }
                },
                "velocity": {
                    "x": 0.16053557395935059,
                    "y": 6.002419471740723,
                    "z": -0.023045195266604424
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011609782231971622,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.4410116374492645,
                        "yaw": 179.9837646484375
                    }
                },
                "velocity": {
                    "x": -2.5326162358396687e-05,
                    "y": -4.7746503696544096e-05,
                    "z": 0.0011597194243222475
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.457099914550781,
                "transform": {
                    "location": {
                        "x": 214.7879638671875,
                        "y": 5609.94287109375,
                        "z": 365.1953430175781
                    },
                    "rotation": {
                        "roll": -0.039611801505088806,
                        "pitch": -0.4063962399959564,
                        "yaw": 94.00324249267578
                    }
                },
                "velocity": {
                    "x": -1.0778028964996338,
                    "y": 14.416497230529785,
                    "z": -0.10346581041812897
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.42021220503375e-05,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.037750452756881714,
                        "yaw": -1.783538818359375
                    }
                },
                "velocity": {
                    "x": -1.226011590915732e-06,
                    "y": -5.324478024704149e-06,
                    "z": 7.400068716378883e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7547270545037463e-05,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": -3.21438074024627e-06,
                    "y": 1.4713687050971203e-05,
                    "z": 9.004545972857159e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001693976082606241,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -5.974974556011148e-06,
                    "y": 8.65922720549861e-06,
                    "z": -0.00016907059762161225
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.843872308731079,
                "transform": {
                    "location": {
                        "x": 216.7520294189453,
                        "y": 5619.27783203125,
                        "z": 365.1449279785156
                    },
                    "rotation": {
                        "roll": 0.005127526354044676,
                        "pitch": 0.416422963142395,
                        "yaw": -83.18291473388672
                    }
                },
                "velocity": {
                    "x": 0.21366991102695465,
                    "y": -1.8313970565795898,
                    "z": 0.013963250443339348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.100030541419983,
                "transform": {
                    "location": {
                        "x": 217.79522705078125,
                        "y": 5606.66748046875,
                        "z": 365.2342834472656
                    },
                    "rotation": {
                        "roll": 0.007039667572826147,
                        "pitch": 0.399101585149765,
                        "yaw": -86.05754089355469
                    }
                },
                "velocity": {
                    "x": 0.056898463517427444,
                    "y": -1.0985342264175415,
                    "z": 0.007224845699965954
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9994642734527588,
        "expert_target_speed": 0,
        "target_point": [
            8.721523714431548,
            -9.759907238268738
        ],
        "target_point_next": [
            9.025212333496478,
            -60.75899771927626
        ]
    },
    "435": {
        "acceleration": [
            0.02514696680009365,
            0.2308019995689392,
            -0.01908569037914276
        ],
        "angular_velocity": [
            -0.03920644894242287,
            -0.0008700019679963589,
            1.233715534210205
        ],
        "forward_vector": [
            -0.008702375926077366,
            -0.9999399185180664,
            0.006667683832347393
        ],
        "right_vector": [
            0.9999621510505676,
            -0.008702640421688557,
            -1.0643619134498294e-05
        ],
        "location": [
            218.5146026611328,
            5588.7666015625,
            365.3520202636719
        ],
        "rotation": [
            0.0006098480080254376,
            0.38203296065330505,
            -90.49862670898438
        ],
        "velocity": [
            -0.0039399671368300915,
            -0.15977059304714203,
            0.001399946166202426
        ],
        "speed": 0.15981916575828686,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.242019653320312,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 168.49905395507812,
                        "y": 5586.7705078125,
                        "z": 366.13128662109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7924794554710388,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0647685527801514,
                "transform": {
                    "location": {
                        "x": 183.67703247070312,
                        "y": 5586.82568359375,
                        "z": 365.574951171875
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": -0.6567977666854858,
                        "yaw": -0.02450561337172985
                    }
                },
                "velocity": {
                    "x": 2.0646066665649414,
                    "y": -0.0021679894998669624,
                    "z": -0.0257661622017622
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4813835918903351,
                "transform": {
                    "location": {
                        "x": 183.16358947753906,
                        "y": 5583.5732421875,
                        "z": 365.5421447753906
                    },
                    "rotation": {
                        "roll": 1.160010197054362e-05,
                        "pitch": -0.7101756930351257,
                        "yaw": -0.208465576171875
                    }
                },
                "velocity": {
                    "x": 0.48133811354637146,
                    "y": -0.0026039965450763702,
                    "z": -0.006082057952880859
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00034199183573946357,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.00869910791516304,
                        "pitch": -0.6334453821182251,
                        "yaw": 179.06527709960938
                    }
                },
                "velocity": {
                    "x": -2.1454616216942668e-05,
                    "y": -3.8238513297983445e-06,
                    "z": 0.00034129677806049585
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.033895492553711,
                "transform": {
                    "location": {
                        "x": 214.70069885253906,
                        "y": 5558.48193359375,
                        "z": 365.5827331542969
                    },
                    "rotation": {
                        "roll": -0.003234863979741931,
                        "pitch": -0.4255070984363556,
                        "yaw": 88.52075958251953
                    }
                },
                "velocity": {
                    "x": 0.11882957816123962,
                    "y": 4.032023906707764,
                    "z": -0.031234564259648323
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000977831892669201,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.09033203125
                    }
                },
                "velocity": {
                    "x": 6.665102773695253e-06,
                    "y": 5.482059805217432e-06,
                    "z": 0.0009777938248589635
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.5917840003967285,
                "transform": {
                    "location": {
                        "x": 215.2001495361328,
                        "y": 5575.41162109375,
                        "z": 365.4661560058594
                    },
                    "rotation": {
                        "roll": -0.098297119140625,
                        "pitch": -0.08032301813364029,
                        "yaw": 88.38408660888672
                    }
                },
                "velocity": {
                    "x": 0.16972005367279053,
                    "y": 6.589382171630859,
                    "z": -0.05344053730368614
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010417662560939789,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.4410116374492645,
                        "yaw": 179.9837646484375
                    }
                },
                "velocity": {
                    "x": -3.1985341593099292e-06,
                    "y": 3.865900362143293e-05,
                    "z": 0.001041043782606721
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.466974258422852,
                "transform": {
                    "location": {
                        "x": 214.49929809570312,
                        "y": 5613.54736328125,
                        "z": 365.1695861816406
                    },
                    "rotation": {
                        "roll": -0.0334167554974556,
                        "pitch": -0.40655332803726196,
                        "yaw": 94.98240661621094
                    }
                },
                "velocity": {
                    "x": -1.2466987371444702,
                    "y": 14.412784576416016,
                    "z": -0.10355323553085327
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002715058799367398,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": 0.03768215328454971,
                        "yaw": -1.783538818359375
                    }
                },
                "velocity": {
                    "x": 1.1007533657902968e-06,
                    "y": -1.1154039384564385e-05,
                    "z": 0.00027127444627694786
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4392528533935547,
                "transform": {
                    "location": {
                        "x": 216.81350708007812,
                        "y": 5618.74169921875,
                        "z": 365.1492614746094
                    },
                    "rotation": {
                        "roll": -0.0059509072452783585,
                        "pitch": 0.36174046993255615,
                        "yaw": -83.28133392333984
                    }
                },
                "velocity": {
                    "x": 0.22334979474544525,
                    "y": -2.428955554962158,
                    "z": 0.01563325896859169
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009456470143049955,
                "transform": {
                    "location": {
                        "x": 217.80897521972656,
                        "y": 5606.42822265625,
                        "z": 365.2350769042969
                    },
                    "rotation": {
                        "roll": 0.010006485506892204,
                        "pitch": 0.507571816444397,
                        "yaw": -86.15251159667969
                    }
                },
                "velocity": {
                    "x": -4.583838381222449e-05,
                    "y": -0.0009375516674481332,
                    "z": -0.00011464718409115449
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.00034499168396,
        "expert_target_speed": 0,
        "target_point": [
            8.678051026986273,
            -9.7560915505095
        ],
        "target_point_next": [
            8.999564912726687,
            -60.75507277061446
        ]
    },
    "440": {
        "acceleration": [
            0.03954261541366577,
            0.2585342526435852,
            -0.002047156449407339
        ],
        "angular_velocity": [
            -0.000654270697850734,
            -0.01757688634097576,
            -0.11443772912025452
        ],
        "forward_vector": [
            -0.009248306974768639,
            -0.9999335408210754,
            0.006876533385366201
        ],
        "right_vector": [
            0.9999572038650513,
            -0.00924860592931509,
            -1.1630355402303394e-05
        ],
        "location": [
            218.5137481689453,
            5588.73046875,
            365.3522033691406
        ],
        "rotation": [
            0.000666386098600924,
            0.3939994275569916,
            -90.5299072265625
        ],
        "velocity": [
            -0.0027661663480103016,
            -0.13260816037654877,
            0.0017596244579181075
        ],
        "speed": 0.13263700793789546,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.221949577331543,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -6.222873707883991e-06,
                5.252657047094544e-06,
                -0.0003445798938628286
            ],
            "speed_kmh": 0.001240833980401137,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 215.1795196533203,
                        "y": 5508.5390625,
                        "z": 366.0882263183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5127900838851929,
                        "yaw": 96.25312042236328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3322569131851196,
                "transform": {
                    "location": {
                        "x": 168.497802734375,
                        "y": 5586.7705078125,
                        "z": 365.73876953125
                    },
                    "rotation": {
                        "roll": 0.00041489992872811854,
                        "pitch": -0.7921448349952698,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": -0.018586868420243263,
                    "y": 3.5372078855289146e-05,
                    "z": -1.3321272134780884
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007129000732675195,
                "transform": {
                    "location": {
                        "x": 183.7692108154297,
                        "y": 5586.82568359375,
                        "z": 365.5752258300781
                    },
                    "rotation": {
                        "roll": 3.666880274977302e-06,
                        "pitch": -0.8251892328262329,
                        "yaw": -0.0177917443215847
                    }
                },
                "velocity": {
                    "x": -0.00049714429769665,
                    "y": 0.00014797619951423258,
                    "z": 0.0004890573909506202
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00042261049384251237,
                "transform": {
                    "location": {
                        "x": 183.298583984375,
                        "y": 5583.5732421875,
                        "z": 365.54046630859375
                    },
                    "rotation": {
                        "roll": 0.0029485051054507494,
                        "pitch": -0.7020819187164307,
                        "yaw": -0.2597655951976776
                    }
                },
                "velocity": {
                    "x": 5.0932987505802885e-05,
                    "y": 9.455424878979102e-05,
                    "z": 0.00040873579564504325
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00019320099090691656,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008898001164197922,
                        "pitch": -0.6335409879684448,
                        "yaw": 179.06521606445312
                    }
                },
                "velocity": {
                    "x": -2.3090764443622902e-05,
                    "y": 7.547205171931637e-08,
                    "z": 0.0001918161433422938
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.991487503051758,
                "transform": {
                    "location": {
                        "x": 214.73304748535156,
                        "y": 5559.611328125,
                        "z": 365.57379150390625
                    },
                    "rotation": {
                        "roll": -0.0016479339683428407,
                        "pitch": -0.4198038876056671,
                        "yaw": 88.40396881103516
                    }
                },
                "velocity": {
                    "x": 0.1485549807548523,
                    "y": 4.989121913909912,
                    "z": -0.03923903778195381
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00135722232516855,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.09033203125
                    }
                },
                "velocity": {
                    "x": -2.1186842786846682e-05,
                    "y": -9.157512249657884e-05,
                    "z": 0.0013539636274799705
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.853124141693115,
                "transform": {
                    "location": {
                        "x": 215.2420196533203,
                        "y": 5577.06884765625,
                        "z": 365.4552001953125
                    },
                    "rotation": {
                        "roll": -0.06341550499200821,
                        "pitch": -0.44540342688560486,
                        "yaw": 88.53750610351562
                    }
                },
                "velocity": {
                    "x": 0.16025720536708832,
                    "y": 6.851067543029785,
                    "z": -0.050025567412376404
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.0965587181271985e-05,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5787658691406
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": -0.43817028403282166,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": 9.353905625175685e-06,
                    "y": -3.3315013752144296e-06,
                    "z": -6.015154576743953e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.464517593383789,
                "transform": {
                    "location": {
                        "x": 214.15670776367188,
                        "y": 5617.1474609375,
                        "z": 365.14373779296875
                    },
                    "rotation": {
                        "roll": -0.0435791015625,
                        "pitch": -0.4127824604511261,
                        "yaw": 95.9312744140625
                    }
                },
                "velocity": {
                    "x": -1.5143557786941528,
                    "y": 14.384650230407715,
                    "z": -0.10400320589542389
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00011429593723732978,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": 0.03768215328454971,
                        "yaw": -1.783538818359375
                    }
                },
                "velocity": {
                    "x": 4.5392661718324234e-07,
                    "y": 3.4729403068922693e-06,
                    "z": 0.00011424226249800995
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001825192739488557,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": 2.332057738385629e-05,
                    "y": -1.1610428373387549e-05,
                    "z": -0.00018065058975480497
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003446761111263186,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -6.222873707883991e-06,
                    "y": 5.252657047094544e-06,
                    "z": -0.0003445798938628286
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3156392574310303,
                "transform": {
                    "location": {
                        "x": 216.88491821289062,
                        "y": 5618.029296875,
                        "z": 365.1545715332031
                    },
                    "rotation": {
                        "roll": -0.0035095331259071827,
                        "pitch": 0.32562240958213806,
                        "yaw": -83.64620971679688
                    }
                },
                "velocity": {
                    "x": 0.317939817905426,
                    "y": -3.3002769947052,
                    "z": 0.023429373279213905
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9844037294387817,
                "transform": {
                    "location": {
                        "x": 217.81640625,
                        "y": 5606.298828125,
                        "z": 365.2370910644531
                    },
                    "rotation": {
                        "roll": 0.004438713658601046,
                        "pitch": 0.36736854910850525,
                        "yaw": -86.18698120117188
                    }
                },
                "velocity": {
                    "x": 0.053258512169122696,
                    "y": -0.9829390645027161,
                    "z": 0.00671121571213007
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0007387399673462,
        "expert_target_speed": 0,
        "target_point": [
            8.647218579344647,
            -9.750848448585517
        ],
        "target_point_next": [
            8.996479492914125,
            -60.74964719406181
        ]
    },
    "445": {
        "acceleration": [
            -0.041052401065826416,
            -0.018580257892608643,
            0.01349964365363121
        ],
        "angular_velocity": [
            -0.022647032514214516,
            0.03259999677538872,
            -0.11438538879156113
        ],
        "forward_vector": [
            -0.00964547973126173,
            -0.9999293088912964,
            0.006954136770218611
        ],
        "right_vector": [
            0.9999535083770752,
            -0.009645833633840084,
            -1.72655545611633e-05
        ],
        "location": [
            218.51280212402344,
            5588.69970703125,
            365.3524169921875
        ],
        "rotation": [
            0.0009892673697322607,
            0.39844590425491333,
            -90.55266571044922
        ],
        "velocity": [
            -0.004394616466015577,
            -0.11437368392944336,
            0.0020039654336869717
        ],
        "speed": 0.11445808066482499,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.20508861541748,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -5.130115823703818e-06,
                -9.765887625690084e-06,
                -0.00011558972619241104
            ],
            "speed_kmh": 0.00041801372446525646,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.81936645507812,
                        "y": 5512.2685546875,
                        "z": 365.9935607910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.24748146533966064,
                "transform": {
                    "location": {
                        "x": 168.49710083007812,
                        "y": 5586.7705078125,
                        "z": 365.70843505859375
                    },
                    "rotation": {
                        "roll": 3.468370414339006e-05,
                        "pitch": -0.7926024198532104,
                        "yaw": -0.1376953125
                    }
                },
                "velocity": {
                    "x": 0.0034854630939662457,
                    "y": -3.8646008761134e-05,
                    "z": 0.24745692312717438
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007494037854485214,
                "transform": {
                    "location": {
                        "x": 183.76983642578125,
                        "y": 5586.82470703125,
                        "z": 365.5743713378906
                    },
                    "rotation": {
                        "roll": 0.0004840546753257513,
                        "pitch": -0.7266159653663635,
                        "yaw": -0.01785278134047985
                    }
                },
                "velocity": {
                    "x": -0.00024039155687205493,
                    "y": -5.929639519308694e-05,
                    "z": 0.0007073202286846936
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003832289366982877,
                "transform": {
                    "location": {
                        "x": 183.298583984375,
                        "y": 5583.5732421875,
                        "z": 365.5403747558594
                    },
                    "rotation": {
                        "roll": 0.0032775544095784426,
                        "pitch": -0.6951287984848022,
                        "yaw": -0.2598266899585724
                    }
                },
                "velocity": {
                    "x": 1.8805414583766833e-05,
                    "y": -7.684090815018862e-05,
                    "z": 0.0003749750030692667
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00029254090622998774,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290588378906
                    },
                    "rotation": {
                        "roll": 0.00869917031377554,
                        "pitch": -0.6335409879684448,
                        "yaw": 179.06520080566406
                    }
                },
                "velocity": {
                    "x": -2.348102498217486e-05,
                    "y": 9.297414180764463e-06,
                    "z": 0.0002914487849920988
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.388022422790527,
                "transform": {
                    "location": {
                        "x": 214.7714080810547,
                        "y": 5560.9208984375,
                        "z": 365.5639343261719
                    },
                    "rotation": {
                        "roll": 0.00032174852094613016,
                        "pitch": -0.4347551763057709,
                        "yaw": 88.33892822265625
                    }
                },
                "velocity": {
                    "x": 0.1617017537355423,
                    "y": 5.3854265213012695,
                    "z": -0.04266614466905594
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009263315005227923,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.09033203125
                    }
                },
                "velocity": {
                    "x": 5.5027567213983275e-06,
                    "y": -2.8347858460620046e-06,
                    "z": 0.0009263108368031681
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.891932964324951,
                "transform": {
                    "location": {
                        "x": 215.28585815429688,
                        "y": 5578.90869140625,
                        "z": 365.43994140625
                    },
                    "rotation": {
                        "roll": -0.0993347093462944,
                        "pitch": -0.3776821196079254,
                        "yaw": 88.67328643798828
                    }
                },
                "velocity": {
                    "x": 0.18085233867168427,
                    "y": 7.889533996582031,
                    "z": -0.07179379463195801
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00034258310915902257,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.4382317364215851,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": -1.4520138392981607e-05,
                    "y": 6.54489776934497e-05,
                    "z": 0.0003359594848006964
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.462725639343262,
                "transform": {
                    "location": {
                        "x": 213.76132202148438,
                        "y": 5620.7412109375,
                        "z": 365.1175842285156
                    },
                    "rotation": {
                        "roll": -0.0476989820599556,
                        "pitch": -0.41665518283843994,
                        "yaw": 96.71599578857422
                    }
                },
                "velocity": {
                    "x": -1.7542531490325928,
                    "y": 14.355561256408691,
                    "z": -0.10437098145484924
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004900966887362301,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": 0.037545546889305115,
                        "yaw": -1.783538818359375
                    }
                },
                "velocity": {
                    "x": -1.7338566976832226e-05,
                    "y": 6.521632894873619e-05,
                    "z": 0.0004854286089539528
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.573702947003767e-05,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": -1.1711706974892877e-05,
                    "y": 3.169213232467882e-05,
                    "z": 4.432901187101379e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011611492664087564,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -5.130115823703818e-06,
                    "y": -9.765887625690084e-06,
                    "z": -0.00011558972619241104
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.38149881362915,
                "transform": {
                    "location": {
                        "x": 216.98085021972656,
                        "y": 5617.060546875,
                        "z": 365.1617126464844
                    },
                    "rotation": {
                        "roll": -0.0014038231456652284,
                        "pitch": 0.2998316287994385,
                        "yaw": -83.97161865234375
                    }
                },
                "velocity": {
                    "x": 0.41943034529685974,
                    "y": -4.361265182495117,
                    "z": 0.031228961423039436
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5195366144180298,
                "transform": {
                    "location": {
                        "x": 217.8230438232422,
                        "y": 5606.17626953125,
                        "z": 365.2375793457031
                    },
                    "rotation": {
                        "roll": 0.00629457738250494,
                        "pitch": 0.4229799211025238,
                        "yaw": -86.18624877929688
                    }
                },
                "velocity": {
                    "x": 0.025531169027090073,
                    "y": -0.518900454044342,
                    "z": 0.0029564951546490192
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9993895292282104,
        "expert_target_speed": 0,
        "target_point": [
            8.62026115232527,
            -9.746817196940773
        ],
        "target_point_next": [
            8.989462898945836,
            -60.745475480641076
        ]
    },
    "450": {
        "acceleration": [
            -0.04186316579580307,
            -0.5123147368431091,
            -0.0021516787819564342
        ],
        "angular_velocity": [
            -0.17054608464241028,
            0.11318796873092651,
            -0.24286611378192902
        ],
        "forward_vector": [
            -0.01054108701646328,
            -0.9999141693115234,
            0.007782737258821726
        ],
        "right_vector": [
            0.9999444484710693,
            -0.01054189819842577,
            -6.313109042821452e-05
        ],
        "location": [
            218.5116424560547,
            5588.6572265625,
            365.3525695800781
        ],
        "rotation": [
            0.0036172547843307257,
            0.44592252373695374,
            -90.60398864746094
        ],
        "velocity": [
            -0.007812242954969406,
            -0.2580890655517578,
            0.00190789217595011
        ],
        "speed": 0.2582072750666933,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.181757926940918,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -6.4024516177596524e-06,
                -1.095244670068496e-06,
                -0.0003857047704514116
            ],
            "speed_kmh": 0.00138873405561313,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.52249145507812,
                        "y": 5516.00537109375,
                        "z": 365.94720458984375
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.05833161622285843,
                "transform": {
                    "location": {
                        "x": 168.49710083007812,
                        "y": 5586.7705078125,
                        "z": 365.7461242675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7927800416946411,
                        "yaw": -0.1377563625574112
                    }
                },
                "velocity": {
                    "x": 0.000855450751259923,
                    "y": -0.00010800170275615528,
                    "z": 0.05832524225115776
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001415229169651866,
                "transform": {
                    "location": {
                        "x": 183.77008056640625,
                        "y": 5586.82568359375,
                        "z": 365.5741271972656
                    },
                    "rotation": {
                        "roll": -0.001922607421875,
                        "pitch": -0.7011120319366455,
                        "yaw": -0.01788329891860485
                    }
                },
                "velocity": {
                    "x": -3.29318645526655e-05,
                    "y": -8.316255116369575e-05,
                    "z": 0.0014123996952548623
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4126980861183256e-05,
                "transform": {
                    "location": {
                        "x": 183.298583984375,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.003565059741958976,
                        "pitch": -0.6911604404449463,
                        "yaw": -0.2598572075366974
                    }
                },
                "velocity": {
                    "x": 2.180285628128331e-05,
                    "y": -8.473195521219168e-06,
                    "z": -5.911998414376285e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002868954907171428,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290588378906
                    },
                    "rotation": {
                        "roll": 0.008914747275412083,
                        "pitch": -0.6336024403572083,
                        "yaw": 179.06515502929688
                    }
                },
                "velocity": {
                    "x": -1.526050255051814e-05,
                    "y": -5.263539605948608e-06,
                    "z": -0.0002864409761969
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.004695415496826,
                "transform": {
                    "location": {
                        "x": 214.81460571289062,
                        "y": 5562.3623046875,
                        "z": 365.552490234375
                    },
                    "rotation": {
                        "roll": -0.0007324248435907066,
                        "pitch": -0.4282255172729492,
                        "yaw": 88.32730102539062
                    }
                },
                "velocity": {
                    "x": 0.1812041848897934,
                    "y": 6.001765727996826,
                    "z": -0.04843378812074661
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011899933451786637,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.09033203125
                    }
                },
                "velocity": {
                    "x": 3.979554458055645e-05,
                    "y": 6.450795626733452e-05,
                    "z": 0.0011875770287588239
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.166358947753906,
                "transform": {
                    "location": {
                        "x": 215.33108520507812,
                        "y": 5581.0458984375,
                        "z": 365.41851806640625
                    },
                    "rotation": {
                        "roll": -0.056854259222745895,
                        "pitch": -0.22494544088840485,
                        "yaw": 88.87709045410156
                    }
                },
                "velocity": {
                    "x": 0.15623916685581207,
                    "y": 9.164630889892578,
                    "z": -0.08521353453397751
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004380048776511103,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.4382317364215851,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": -2.0179002603981644e-05,
                    "y": 1.2015052561764605e-05,
                    "z": 0.00043737480882555246
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.46309757232666,
                "transform": {
                    "location": {
                        "x": 213.30686950683594,
                        "y": 5624.32861328125,
                        "z": 365.09112548828125
                    },
                    "rotation": {
                        "roll": -0.043548569083213806,
                        "pitch": -0.4229116439819336,
                        "yaw": 97.6474380493164
                    }
                },
                "velocity": {
                    "x": -1.988259196281433,
                    "y": 14.325376510620117,
                    "z": -0.10779253393411636
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.88100844854489e-05,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": 0.037545546889305115,
                        "yaw": -1.783538818359375
                    }
                },
                "velocity": {
                    "x": -1.1077951057814062e-05,
                    "y": -1.9105724277324043e-05,
                    "z": -6.516961002489552e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00025391942472197115,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0002428821026114747,
                        "pitch": 0.03706060349941254,
                        "yaw": -0.201904296875
                    }
                },
                "velocity": {
                    "x": 4.791761512024095e-06,
                    "y": -9.515699275652878e-06,
                    "z": -0.0002536957908887416
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003857594565488398,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -6.4024516177596524e-06,
                    "y": -1.095244670068496e-06,
                    "z": -0.0003857047704514116
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.384929656982422,
                "transform": {
                    "location": {
                        "x": 217.078125,
                        "y": 5616.0654296875,
                        "z": 365.16748046875
                    },
                    "rotation": {
                        "roll": 0.003181503852829337,
                        "pitch": 0.46195298433303833,
                        "yaw": -84.189208984375
                    }
                },
                "velocity": {
                    "x": 0.32273146510124207,
                    "y": -3.3694255352020264,
                    "z": 0.023776598274707794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.19019180536270142,
                "transform": {
                    "location": {
                        "x": 217.8309326171875,
                        "y": 5606.04052734375,
                        "z": 365.23828125
                    },
                    "rotation": {
                        "roll": 0.007399814203381538,
                        "pitch": 0.44734320044517517,
                        "yaw": -86.26657104492188
                    }
                },
                "velocity": {
                    "x": 0.011008772999048233,
                    "y": -0.18987180292606354,
                    "z": 0.0006517124129459262
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0019471645355225,
        "expert_target_speed": 0,
        "target_point": [
            8.586463135598791,
            -9.73841054909868
        ],
        "target_point_next": [
            9.001163810693946,
            -60.73671914867302
        ]
    },
    "455": {
        "acceleration": [
            -0.051312223076820374,
            -1.0810089111328125,
            0.007835007272660732
        ],
        "angular_velocity": [
            -0.037463292479515076,
            0.05084588751196861,
            -0.9791865348815918
        ],
        "forward_vector": [
            -0.011960006318986416,
            -0.9998968243598938,
            0.00795439351350069
        ],
        "right_vector": [
            0.9999284744262695,
            -0.011961277574300766,
            -0.0001123240144806914
        ],
        "location": [
            218.50921630859375,
            5588.5732421875,
            365.3531494140625
        ],
        "rotation": [
            0.0064358958043158054,
            0.4557580053806305,
            -90.68529510498047
        ],
        "velocity": [
            -0.013942494057118893,
            -0.37408193945884705,
            0.002088518114760518
        ],
        "speed": 0.3743416762395356,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.997836112976074,
        "front_vehicle_info": {
            "id": 5105,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                215.37132263183594,
                5583.4619140625,
                365.3976745605469
            ],
            "velocity": [
                0.14251288771629333,
                9.840597152709961,
                -0.07933522760868073
            ],
            "speed_kmh": 35.431015705898574,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.536337852478027,
                "transform": {
                    "location": {
                        "x": 214.28968811035156,
                        "y": 5519.68505859375,
                        "z": 365.91363525390625
                    },
                    "rotation": {
                        "roll": 0.022448847070336342,
                        "pitch": -0.6532939076423645,
                        "yaw": 92.17201232910156
                    }
                },
                "velocity": {
                    "x": -0.812911868095398,
                    "y": 13.511333465576172,
                    "z": -0.12442554533481598
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.496389865875244,
                "transform": {
                    "location": {
                        "x": 168.84437561035156,
                        "y": 5586.7734375,
                        "z": 365.74700927734375
                    },
                    "rotation": {
                        "roll": 0.005400390829890966,
                        "pitch": -0.9959098100662231,
                        "yaw": -0.0495910570025444
                    }
                },
                "velocity": {
                    "x": 2.495957851409912,
                    "y": 0.028506305068731308,
                    "z": -0.036670565605163574
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015249460702762008,
                "transform": {
                    "location": {
                        "x": 183.77008056640625,
                        "y": 5586.82568359375,
                        "z": 365.5740966796875
                    },
                    "rotation": {
                        "roll": -0.001861572265625,
                        "pitch": -0.695805013179779,
                        "yaw": -0.01791382022202015
                    }
                },
                "velocity": {
                    "x": 4.578307198244147e-06,
                    "y": 2.6259533115080558e-05,
                    "z": 0.001524713123217225
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00010417378507554531,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.5537758119753562e-05,
                    "y": -2.312513970537111e-05,
                    "z": 9.83118952717632e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002022308763116598,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008967988193035126,
                        "pitch": -0.6335068345069885,
                        "yaw": 179.0651397705078
                    }
                },
                "velocity": {
                    "x": -2.51272322202567e-05,
                    "y": 1.8904454918811098e-05,
                    "z": 0.00019977129704784602
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.9779574871063232,
                "transform": {
                    "location": {
                        "x": 214.85382080078125,
                        "y": 5563.73193359375,
                        "z": 365.5421142578125
                    },
                    "rotation": {
                        "roll": 0.0013638738309964538,
                        "pitch": -0.4934333264827728,
                        "yaw": 88.09296417236328
                    }
                },
                "velocity": {
                    "x": 0.11851608753204346,
                    "y": 3.976046323776245,
                    "z": -0.034003548324108124
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010859941830858588,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.09033203125
                    }
                },
                "velocity": {
                    "x": -2.3811664505046792e-05,
                    "y": 7.556105265393853e-05,
                    "z": 0.0010831005638465285
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.841948509216309,
                "transform": {
                    "location": {
                        "x": 215.37132263183594,
                        "y": 5583.4619140625,
                        "z": 365.3976745605469
                    },
                    "rotation": {
                        "roll": -0.0213012732565403,
                        "pitch": -0.26971733570098877,
                        "yaw": 89.14488220214844
                    }
                },
                "velocity": {
                    "x": 0.14251288771629333,
                    "y": 9.840597152709961,
                    "z": -0.07933522760868073
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011706952936947346,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.4382317364215851,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": -1.3438388123176992e-05,
                    "y": -1.4182502127368934e-05,
                    "z": 0.001170532195828855
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5103,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.465688705444336,
                "transform": {
                    "location": {
                        "x": 212.79147338867188,
                        "y": 5627.9072265625,
                        "z": 365.0642395019531
                    },
                    "rotation": {
                        "roll": -0.03356929495930672,
                        "pitch": -0.4292910397052765,
                        "yaw": 98.60306549072266
                    }
                },
                "velocity": {
                    "x": -2.1505584716796875,
                    "y": 14.304535865783691,
                    "z": -0.10717358440160751
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.446894546272233e-05,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.037572868168354034,
                        "yaw": -1.783538818359375
                    }
                },
                "velocity": {
                    "x": -2.1852272766409442e-05,
                    "y": 6.760931137250736e-05,
                    "z": -6.225625111255795e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023756235896144062,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.4922180175781
                    },
                    "rotation": {
                        "roll": 0.0005994129460304976,
                        "pitch": 0.037449926137924194,
                        "yaw": -0.201873779296875
                    }
                },
                "velocity": {
                    "x": 1.485450184190995e-06,
                    "y": 1.753704418661073e-05,
                    "z": -0.0002369095163885504
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.42552981339395e-05,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -7.080212071741698e-06,
                    "y": 1.501117310453992e-07,
                    "z": -8.395715121878311e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.139686107635498,
                "transform": {
                    "location": {
                        "x": 217.1435089111328,
                        "y": 5615.38916015625,
                        "z": 365.1717834472656
                    },
                    "rotation": {
                        "roll": 0.004599602427333593,
                        "pitch": 0.5215190649032593,
                        "yaw": -84.27659606933594
                    }
                },
                "velocity": {
                    "x": 0.20394542813301086,
                    "y": -2.1298866271972656,
                    "z": 0.015706853941082954
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1689300686120987,
                "transform": {
                    "location": {
                        "x": 217.83709716796875,
                        "y": 5605.9228515625,
                        "z": 365.2391662597656
                    },
                    "rotation": {
                        "roll": 0.008321894332766533,
                        "pitch": 0.4384571313858032,
                        "yaw": -86.24179077148438
                    }
                },
                "velocity": {
                    "x": 0.009697336703538895,
                    "y": -0.16864891350269318,
                    "z": 0.0009354781941510737
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0006332397460938,
        "expert_target_speed": 0,
        "target_point": [
            8.516377861650861,
            -9.724696438756453
        ],
        "target_point_next": [
            9.00403175318776,
            -60.72235962393986
        ]
    },
    "460": {
        "acceleration": [
            0.05957869812846184,
            1.397525668144226,
            -0.005856705829501152
        ],
        "angular_velocity": [
            0.37442776560783386,
            -0.0766521468758583,
            0.40971294045448303
        ],
        "forward_vector": [
            -0.01286857295781374,
            -0.999889612197876,
            0.0074331071227788925
        ],
        "right_vector": [
            0.999917209148407,
            -0.012869279831647873,
            -4.7418754547834396e-05
        ],
        "location": [
            218.5057830810547,
            5588.48095703125,
            365.3538513183594
        ],
        "rotation": [
            0.0027169694658368826,
            0.4258895814418793,
            -90.73735809326172
        ],
        "velocity": [
            -0.0115242600440979,
            -0.3180084824562073,
            0.0018064784817397594
        ],
        "speed": 0.31821722688073295,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.086701393127441,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -1.238469030795386e-05,
                1.4635186744271778e-05,
                -0.00029939590604044497
            ],
            "speed_kmh": 0.001080032866292966,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.891929626464844,
                "transform": {
                    "location": {
                        "x": 214.14678955078125,
                        "y": 5522.91796875,
                        "z": 365.88421630859375
                    },
                    "rotation": {
                        "roll": 0.11779437214136124,
                        "pitch": -0.6314440965652466,
                        "yaw": 91.87628936767578
                    }
                },
                "velocity": {
                    "x": -0.44878408312797546,
                    "y": 12.883604049682617,
                    "z": -0.11486036330461502
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.627293825149536,
                "transform": {
                    "location": {
                        "x": 169.6172637939453,
                        "y": 5586.78125,
                        "z": 365.7349853515625
                    },
                    "rotation": {
                        "roll": 2.278878127981443e-05,
                        "pitch": -0.9248349070549011,
                        "yaw": 0.16351059079170227
                    }
                },
                "velocity": {
                    "x": 3.6266884803771973,
                    "y": 0.04122249037027359,
                    "z": -0.05188779532909393
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009220688953064382,
                "transform": {
                    "location": {
                        "x": 183.77008056640625,
                        "y": 5586.82568359375,
                        "z": 365.5741271972656
                    },
                    "rotation": {
                        "roll": -0.0020446779672056437,
                        "pitch": -0.6935100555419922,
                        "yaw": -0.0179443359375
                    }
                },
                "velocity": {
                    "x": 3.736503276741132e-05,
                    "y": 1.7627569832256995e-05,
                    "z": 0.0009211428114213049
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00027382391272112727,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.1969675799482502e-05,
                    "y": -1.1840939805551898e-05,
                    "z": -0.0002726841776166111
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00034888560185208917,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008967988193035126,
                        "pitch": -0.6335068345069885,
                        "yaw": 179.0651397705078
                    }
                },
                "velocity": {
                    "x": -2.593524732219521e-05,
                    "y": -9.06384320842335e-06,
                    "z": 0.0003478021826595068
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.643649578094482,
                "transform": {
                    "location": {
                        "x": 214.8856201171875,
                        "y": 5564.80224609375,
                        "z": 365.53326416015625
                    },
                    "rotation": {
                        "roll": 0.0018713456811383367,
                        "pitch": -0.46139290928840637,
                        "yaw": 87.99891662597656
                    }
                },
                "velocity": {
                    "x": 0.14366060495376587,
                    "y": 4.641286373138428,
                    "z": -0.03609289228916168
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005801132065244019,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": -2.6721581889432855e-05,
                    "y": -8.705631626071408e-05,
                    "z": 0.000572921009734273
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.0980863571167,
                "transform": {
                    "location": {
                        "x": 215.40577697753906,
                        "y": 5586.10498046875,
                        "z": 365.3771057128906
                    },
                    "rotation": {
                        "roll": -0.0322265625,
                        "pitch": -0.17800837755203247,
                        "yaw": 89.34473419189453
                    }
                },
                "velocity": {
                    "x": 0.10433467477560043,
                    "y": 11.097309112548828,
                    "z": -0.07971777021884918
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004065035900566727,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.4382317364215851,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": -1.4628097233071458e-05,
                    "y": 1.486575183662353e-05,
                    "z": 0.0004059682250954211
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.511684503289871e-05,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": 0.0012588308891281486,
                        "pitch": 0.037695810198783875,
                        "yaw": -1.783538818359375
                    }
                },
                "velocity": {
                    "x": 2.2966200049268082e-05,
                    "y": -6.958720859984169e-06,
                    "z": 4.96185093652457e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00015274487668648362,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.0001900974748423323,
                        "pitch": 0.037101585417985916,
                        "yaw": -0.201873779296875
                    }
                },
                "velocity": {
                    "x": 2.656471770023927e-05,
                    "y": 1.2330715435382444e-05,
                    "z": -0.00014991086209192872
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00030000912374816835,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.238469030795386e-05,
                    "y": 1.4635186744271778e-05,
                    "z": -0.00029939590604044497
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010027579264715314,
                "transform": {
                    "location": {
                        "x": 217.16256713867188,
                        "y": 5615.189453125,
                        "z": 365.1725158691406
                    },
                    "rotation": {
                        "roll": 0.003925715573132038,
                        "pitch": 0.61323481798172,
                        "yaw": -84.23519897460938
                    }
                },
                "velocity": {
                    "x": -0.0002660613099578768,
                    "y": 0.0009659781935624778,
                    "z": 4.0261478716274723e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.18141789734363556,
                "transform": {
                    "location": {
                        "x": 217.8436737060547,
                        "y": 5605.8154296875,
                        "z": 365.2398986816406
                    },
                    "rotation": {
                        "roll": 0.008378937840461731,
                        "pitch": 0.43684521317481995,
                        "yaw": -86.30181884765625
                    }
                },
                "velocity": {
                    "x": 0.010478473268449306,
                    "y": -0.1810966432094574,
                    "z": 0.002580890664830804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0005929470062256,
        "expert_target_speed": 10.0,
        "target_point": [
            8.432877045527814,
            -9.714719461741083
        ],
        "target_point_next": [
            8.966807086183662,
            -60.711919143478774
        ]
    },
    "465": {
        "acceleration": [
            -0.07123859226703644,
            -1.0600125789642334,
            0.0032060639932751656
        ],
        "angular_velocity": [
            -0.15475955605506897,
            0.05398876219987869,
            -0.7929180860519409
        ],
        "forward_vector": [
            -0.014120756648480892,
            -0.9998754858970642,
            0.007040203548967838
        ],
        "right_vector": [
            0.9999002814292908,
            -0.014121225103735924,
            -1.678173430263996e-05
        ],
        "location": [
            218.50303649902344,
            5588.400390625,
            365.3545227050781
        ],
        "rotation": [
            0.0009615463786758482,
            0.4033772945404053,
            -90.8091049194336
        ],
        "velocity": [
            -0.014098997227847576,
            -0.32626211643218994,
            0.002114467555657029
        ],
        "speed": 0.3265666093489087,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.043797492980957,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -9.594243238097988e-06,
                -2.6253662781527964e-06,
                -0.00021819501125719398
            ],
            "speed_kmh": 0.0007863178394622464,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.95316219329834,
                "transform": {
                    "location": {
                        "x": 214.06365966796875,
                        "y": 5526.1484375,
                        "z": 365.85589599609375
                    },
                    "rotation": {
                        "roll": 0.1084476113319397,
                        "pitch": -0.5296333432197571,
                        "yaw": 91.03058624267578
                    }
                },
                "velocity": {
                    "x": -0.24150843918323517,
                    "y": 12.950406074523926,
                    "z": -0.11436699330806732
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.772307395935059,
                "transform": {
                    "location": {
                        "x": 170.67437744140625,
                        "y": 5586.791015625,
                        "z": 365.7199401855469
                    },
                    "rotation": {
                        "roll": -0.003845214145258069,
                        "pitch": -0.90569669008255,
                        "yaw": 0.3666122257709503
                    }
                },
                "velocity": {
                    "x": 4.771535396575928,
                    "y": 0.05540699511766434,
                    "z": -0.06554923951625824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.8912770327879116e-05,
                "transform": {
                    "location": {
                        "x": 183.77008056640625,
                        "y": 5586.82568359375,
                        "z": 365.5740966796875
                    },
                    "rotation": {
                        "roll": -0.0027770993765443563,
                        "pitch": -0.6925060153007507,
                        "yaw": -0.01797485165297985
                    }
                },
                "velocity": {
                    "x": 2.1481439034687355e-05,
                    "y": -1.0583707990008406e-05,
                    "z": 5.382608651416376e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4802810003166087e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.36587966355728e-05,
                    "y": -6.479020157712512e-06,
                    "z": -3.6691990317194723e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00021180363546591252,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008967988193035126,
                        "pitch": -0.6335068345069885,
                        "yaw": 179.0651397705078
                    }
                },
                "velocity": {
                    "x": -1.6402527762693353e-05,
                    "y": -2.144487552868668e-06,
                    "z": -0.00021115667186677456
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.973325252532959,
                "transform": {
                    "location": {
                        "x": 214.92616271972656,
                        "y": 5566.04736328125,
                        "z": 365.5235595703125
                    },
                    "rotation": {
                        "roll": 0.0013354475377127528,
                        "pitch": -0.436886191368103,
                        "yaw": 88.22058868408203
                    }
                },
                "velocity": {
                    "x": 0.15267311036586761,
                    "y": 4.970797061920166,
                    "z": -0.04275834560394287
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009278563084080815,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 6.394143838406308e-06,
                    "y": 4.0307145354745444e-07,
                    "z": 0.0009278341894969344
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.00549602508545,
                "transform": {
                    "location": {
                        "x": 215.4286651611328,
                        "y": 5588.99853515625,
                        "z": 365.3570556640625
                    },
                    "rotation": {
                        "roll": -0.04632568359375,
                        "pitch": -0.16985313594341278,
                        "yaw": 89.69609832763672
                    }
                },
                "velocity": {
                    "x": 0.061842501163482666,
                    "y": 12.005058288574219,
                    "z": -0.08165781944990158
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004527587734628469,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.4382317364215851,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": -2.304978625033982e-05,
                    "y": -4.299944339436479e-05,
                    "z": -0.000450122490292415
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.690940062981099e-05,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": 0.0008535952656529844,
                        "pitch": 0.037538718432188034,
                        "yaw": -1.7835389375686646
                    }
                },
                "velocity": {
                    "x": -3.759546234505251e-05,
                    "y": -4.947606066707522e-05,
                    "z": -2.481064984749537e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008790738647803664,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.03703328222036362,
                        "yaw": -0.201873779296875
                    }
                },
                "velocity": {
                    "x": -2.127699008269701e-05,
                    "y": 2.0543862774502486e-05,
                    "z": 0.0008785761892795563
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00021842162823304534,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -9.594243238097988e-06,
                    "y": -2.6253662781527964e-06,
                    "z": -0.00021819501125719398
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007631341577507555,
                "transform": {
                    "location": {
                        "x": 217.16241455078125,
                        "y": 5615.1904296875,
                        "z": 365.1739501953125
                    },
                    "rotation": {
                        "roll": 0.0037780047859996557,
                        "pitch": 0.43677008152008057,
                        "yaw": -84.23519897460938
                    }
                },
                "velocity": {
                    "x": -3.235476469853893e-05,
                    "y": 0.00040594881284050643,
                    "z": -0.0006453932728618383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.14984387159347534,
                "transform": {
                    "location": {
                        "x": 217.8503875732422,
                        "y": 5605.70849609375,
                        "z": 365.2406921386719
                    },
                    "rotation": {
                        "roll": 0.006705291569232941,
                        "pitch": 0.43582069873809814,
                        "yaw": -86.42507934570312
                    }
                },
                "velocity": {
                    "x": 0.008390997536480427,
                    "y": -0.14960671961307526,
                    "z": 0.0007799148443154991
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9993388056755066,
        "expert_target_speed": 10.0,
        "target_point": [
            8.36441465838044,
            -9.702563988290162
        ],
        "target_point_next": [
            8.962080065415096,
            -60.699056541490094
        ]
    },
    "470": {
        "acceleration": [
            0.07274167239665985,
            1.423105001449585,
            -0.021108629181981087
        ],
        "angular_velocity": [
            0.2561606168746948,
            -0.03838100656867027,
            0.4744572639465332
        ],
        "forward_vector": [
            -0.015177078545093536,
            -0.9998619556427002,
            0.0067634060978889465
        ],
        "right_vector": [
            0.999884843826294,
            -0.015177329070866108,
            1.438101662643021e-05
        ],
        "location": [
            218.50062561035156,
            5588.33447265625,
            365.35498046875
        ],
        "rotation": [
            -0.0008239904418587685,
            0.3875176012516022,
            -90.86963653564453
        ],
        "velocity": [
            -0.008057230152189732,
            -0.20068877935409546,
            0.0015734100015833974
        ],
        "speed": 0.20085045460830345,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.009063720703125,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -1.7682276620689663e-06,
                9.633887430027244e-07,
                -0.00035447021946310997
            ],
            "speed_kmh": 0.0012761133799086032,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.755611419677734,
                "transform": {
                    "location": {
                        "x": 214.0203857421875,
                        "y": 5529.369140625,
                        "z": 365.8279724121094
                    },
                    "rotation": {
                        "roll": 0.08987119793891907,
                        "pitch": -0.5159934163093567,
                        "yaw": 90.46968078613281
                    }
                },
                "velocity": {
                    "x": -0.07632425427436829,
                    "y": 12.754910469055176,
                    "z": -0.10971871018409729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.555563926696777,
                "transform": {
                    "location": {
                        "x": 171.94296264648438,
                        "y": 5586.80126953125,
                        "z": 365.7019958496094
                    },
                    "rotation": {
                        "roll": -0.013671875931322575,
                        "pitch": -0.8129563927650452,
                        "yaw": 0.38239821791648865
                    }
                },
                "velocity": {
                    "x": 4.555015563964844,
                    "y": 0.02096572145819664,
                    "z": -0.06752294301986694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008693397394381464,
                "transform": {
                    "location": {
                        "x": 183.77008056640625,
                        "y": 5586.82568359375,
                        "z": 365.5740966796875
                    },
                    "rotation": {
                        "roll": -0.0027770993765443563,
                        "pitch": -0.6925060153007507,
                        "yaw": -0.01797485165297985
                    }
                },
                "velocity": {
                    "x": 4.891447679256089e-05,
                    "y": -6.99567726769601e-06,
                    "z": 0.0008679343736730516
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.221407289151102e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.528652476030402e-05,
                    "y": -4.843014721700456e-06,
                    "z": -3.345392178744078e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00018807925516739488,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008967988193035126,
                        "pitch": -0.6335068345069885,
                        "yaw": 179.0651397705078
                    }
                },
                "velocity": {
                    "x": -2.2957101464271545e-05,
                    "y": 8.374370736419223e-06,
                    "z": -0.0001864849909907207
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.470336437225342,
                "transform": {
                    "location": {
                        "x": 214.9628143310547,
                        "y": 5567.2197265625,
                        "z": 365.514404296875
                    },
                    "rotation": {
                        "roll": -0.0019226010190322995,
                        "pitch": -0.463838130235672,
                        "yaw": 88.35648345947266
                    }
                },
                "velocity": {
                    "x": 0.13415366411209106,
                    "y": 4.468177795410156,
                    "z": -0.03599600866436958
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010626966832205653,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 8.559990419598762e-06,
                    "y": -3.479520273685921e-06,
                    "z": 0.00010586719145067036
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.926941871643066,
                "transform": {
                    "location": {
                        "x": 215.4335174560547,
                        "y": 5592.119140625,
                        "z": 365.3356628417969
                    },
                    "rotation": {
                        "roll": -0.077545166015625,
                        "pitch": -0.20668834447860718,
                        "yaw": 90.16185760498047
                    }
                },
                "velocity": {
                    "x": -0.048055123537778854,
                    "y": 12.926532745361328,
                    "z": -0.0909261405467987
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005589898210018873,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.4382317364215851,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": -2.0387768017826602e-05,
                    "y": -4.69010483357124e-05,
                    "z": 0.0005566455656662583
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.461826706072316e-05,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": 0.037210866808891296,
                        "yaw": -1.783538818359375
                    }
                },
                "velocity": {
                    "x": -3.178270344506018e-05,
                    "y": -1.3234533980721608e-05,
                    "z": -5.468296876642853e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.928920917445794e-05,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.03703328222036362,
                        "yaw": -0.201873779296875
                    }
                },
                "velocity": {
                    "x": -1.4199996257957537e-05,
                    "y": 2.640062120917719e-05,
                    "z": 9.465577022638172e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003544759238138795,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.7682276620689663e-06,
                    "y": 9.633887430027244e-07,
                    "z": -0.00035447021946310997
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019361675367690623,
                "transform": {
                    "location": {
                        "x": 217.16241455078125,
                        "y": 5615.1904296875,
                        "z": 365.1741638183594
                    },
                    "rotation": {
                        "roll": 0.0038447347469627857,
                        "pitch": 0.41048750281333923,
                        "yaw": -84.23519897460938
                    }
                },
                "velocity": {
                    "x": -1.2985150533495471e-05,
                    "y": 8.182681631296873e-05,
                    "z": -0.00017499487148597836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1343432366847992,
                "transform": {
                    "location": {
                        "x": 217.85609436035156,
                        "y": 5605.6025390625,
                        "z": 365.24139404296875
                    },
                    "rotation": {
                        "roll": 0.006631372030824423,
                        "pitch": 0.43636026978492737,
                        "yaw": -86.41606140136719
                    }
                },
                "velocity": {
                    "x": 0.0075065139681100845,
                    "y": -0.1341233104467392,
                    "z": 0.0016418838640674949
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9980897903442383,
        "expert_target_speed": 10.0,
        "target_point": [
            8.308687707705355,
            -9.692333827335029
        ],
        "target_point_next": [
            8.960093392853121,
            -60.688168238595516
        ]
    },
    "475": {
        "acceleration": [
            -0.04657734930515289,
            -0.7947582006454468,
            0.005640792660415173
        ],
        "angular_velocity": [
            -0.1840035766363144,
            0.07505370676517487,
            -0.7810519337654114
        ],
        "forward_vector": [
            -0.016061972826719284,
            -0.9998489022254944,
            0.006648610346019268
        ],
        "right_vector": [
            0.999871015548706,
            -0.016062073409557343,
            3.834860399365425e-05
        ],
        "location": [
            218.4988250732422,
            5588.2880859375,
            365.3553466796875
        ],
        "rotation": [
            -0.002197261666879058,
            0.38094010949134827,
            -90.92034149169922
        ],
        "velocity": [
            -0.00812303926795721,
            -0.1748017519712448,
            0.0018021011492237449
        ],
        "speed": 0.1749903890479856,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.984832763671875,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                2.0615384528355207e-06,
                1.0947170267172623e-05,
                -0.0006252223975025117
            ],
            "speed_kmh": 0.0022511578561133956,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.319503784179688,
                "transform": {
                    "location": {
                        "x": 214.0252227783203,
                        "y": 5532.50439453125,
                        "z": 365.8011169433594
                    },
                    "rotation": {
                        "roll": 0.08338025957345963,
                        "pitch": -0.5559705495834351,
                        "yaw": 89.54371643066406
                    }
                },
                "velocity": {
                    "x": 0.08233367651700974,
                    "y": 12.3187837600708,
                    "z": -0.10472728312015533
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.06792625784873962,
                "transform": {
                    "location": {
                        "x": 172.49562072753906,
                        "y": 5586.80419921875,
                        "z": 365.69073486328125
                    },
                    "rotation": {
                        "roll": -0.003692626254633069,
                        "pitch": -0.4069836437702179,
                        "yaw": 0.2963806688785553
                    }
                },
                "velocity": {
                    "x": 0.06791891902685165,
                    "y": 0.0007751520024612546,
                    "z": -0.0006293960032053292
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00024414024665020406,
                "transform": {
                    "location": {
                        "x": 183.77008056640625,
                        "y": 5586.82568359375,
                        "z": 365.5740966796875
                    },
                    "rotation": {
                        "roll": -0.0027770993765443563,
                        "pitch": -0.6925060153007507,
                        "yaw": -0.01797485165297985
                    }
                },
                "velocity": {
                    "x": 2.5080218620132655e-05,
                    "y": -2.8415756787580904e-06,
                    "z": 0.0002428319858154282
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000118698226287961,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.729415791691281e-05,
                    "y": -9.294692063122056e-06,
                    "z": 0.00011514298239490017
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002749877457972616,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008967988193035126,
                        "pitch": -0.6335068345069885,
                        "yaw": 179.0651397705078
                    }
                },
                "velocity": {
                    "x": -2.476669760653749e-05,
                    "y": 1.2260405128472485e-05,
                    "z": 0.0002735955931711942
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.358484745025635,
                "transform": {
                    "location": {
                        "x": 214.9957733154297,
                        "y": 5568.3232421875,
                        "z": 365.5055847167969
                    },
                    "rotation": {
                        "roll": -0.00042727397521957755,
                        "pitch": -0.4580392837524414,
                        "yaw": 88.33084106445312
                    }
                },
                "velocity": {
                    "x": 0.1303849220275879,
                    "y": 4.356409549713135,
                    "z": -0.03295792639255524
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002832505269907415,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 8.224565135606099e-06,
                    "y": -2.328418077013339e-06,
                    "z": 0.0002831215097103268
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.82366943359375,
                "transform": {
                    "location": {
                        "x": 215.41061401367188,
                        "y": 5595.46728515625,
                        "z": 365.3117980957031
                    },
                    "rotation": {
                        "roll": -0.1013793796300888,
                        "pitch": -0.20498763024806976,
                        "yaw": 90.74279022216797
                    }
                },
                "velocity": {
                    "x": -0.20335547626018524,
                    "y": 13.82182502746582,
                    "z": -0.09819760173559189
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004733871901407838,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.4382317364215851,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": -1.2666806469496805e-05,
                    "y": 4.815937245439272e-06,
                    "z": 0.0004731931840069592
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.048280142247677e-05,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -6.103518535383046e-05,
                        "pitch": 0.037272341549396515,
                        "yaw": -1.783538818359375
                    }
                },
                "velocity": {
                    "x": -4.429427281138487e-05,
                    "y": -5.482395863509737e-05,
                    "z": 3.885655678459443e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000779951922595501,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.03703328222036362,
                        "yaw": -0.201873779296875
                    }
                },
                "velocity": {
                    "x": -5.062012860435061e-06,
                    "y": 3.8976895666564815e-07,
                    "z": 0.0007799353916198015
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006253216415643692,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": 2.0615384528355207e-06,
                    "y": 1.0947170267172623e-05,
                    "z": -0.0006252223975025117
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00035268691135570407,
                "transform": {
                    "location": {
                        "x": 217.16241455078125,
                        "y": 5615.1904296875,
                        "z": 365.1742248535156
                    },
                    "rotation": {
                        "roll": 0.004166479222476482,
                        "pitch": 0.4054809808731079,
                        "yaw": -84.2352066040039
                    }
                },
                "velocity": {
                    "x": -7.312977459150716e-07,
                    "y": 5.599111318588257e-06,
                    "z": 0.0003526416840031743
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015225106617435813,
                "transform": {
                    "location": {
                        "x": 217.86155700683594,
                        "y": 5605.50439453125,
                        "z": 365.24237060546875
                    },
                    "rotation": {
                        "roll": 0.006720370147377253,
                        "pitch": 0.40938785672187805,
                        "yaw": -86.435791015625
                    }
                },
                "velocity": {
                    "x": 0.0003082906187046319,
                    "y": -0.0014008121797814965,
                    "z": -0.0005106081371195614
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9989991188049316,
        "expert_target_speed": 10.0,
        "target_point": [
            8.270857227129047,
            -9.683917505222421
        ],
        "target_point_next": [
            8.96741877916549,
            -60.67915511297915
        ]
    },
    "480": {
        "acceleration": [
            0.04851160943508148,
            0.16006916761398315,
            0.009316443465650082
        ],
        "angular_velocity": [
            -0.016667135059833527,
            -0.09263837337493896,
            -0.1732891947031021
        ],
        "forward_vector": [
            -0.01672131009399891,
            -0.9998365044593811,
            0.006881062872707844
        ],
        "right_vector": [
            0.9998601675033569,
            -0.016721246764063835,
            6.657721678493544e-05
        ],
        "location": [
            218.49717712402344,
            5588.2509765625,
            365.3556213378906
        ],
        "rotation": [
            -0.0038146842271089554,
            0.394258975982666,
            -90.9581298828125
        ],
        "velocity": [
            -0.0036920143757015467,
            -0.13291648030281067,
            0.00203812588006258
        ],
        "speed": 0.13296774686456053,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.965697288513184,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -1.343060262115614e-06,
                1.559305928822141e-05,
                9.109236270887777e-05
            ],
            "speed_kmh": 0.00033273750232164017,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.570686340332031,
                "transform": {
                    "location": {
                        "x": 214.06155395507812,
                        "y": 5535.48876953125,
                        "z": 365.77587890625
                    },
                    "rotation": {
                        "roll": 0.07004425674676895,
                        "pitch": -0.5792204737663269,
                        "yaw": 89.00765228271484
                    }
                },
                "velocity": {
                    "x": 0.20201800763607025,
                    "y": 11.56850814819336,
                    "z": -0.0979287251830101
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5756291151046753,
                "transform": {
                    "location": {
                        "x": 172.74647521972656,
                        "y": 5586.80615234375,
                        "z": 365.6904296875
                    },
                    "rotation": {
                        "roll": -0.0031738278921693563,
                        "pitch": -0.7920218706130981,
                        "yaw": 0.23795771598815918
                    }
                },
                "velocity": {
                    "x": 1.575458288192749,
                    "y": 0.006518993992358446,
                    "z": -0.022266892716288567
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008627435308881104,
                "transform": {
                    "location": {
                        "x": 183.77008056640625,
                        "y": 5586.82568359375,
                        "z": 365.5740966796875
                    },
                    "rotation": {
                        "roll": -0.0027770993765443563,
                        "pitch": -0.6925060153007507,
                        "yaw": -0.01797485165297985
                    }
                },
                "velocity": {
                    "x": 3.355316584929824e-05,
                    "y": -1.2421890460245777e-05,
                    "z": 0.0008620013250038028
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005418827058747411,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 1.4544427358487155e-05,
                    "y": 1.5253168385243043e-05,
                    "z": -0.0005414726911112666
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006156379240565002,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.009076887741684914,
                        "pitch": -0.6333019137382507,
                        "yaw": 179.0648956298828
                    }
                },
                "velocity": {
                    "x": -2.390742338320706e-05,
                    "y": -6.422509613912553e-06,
                    "z": 0.0006151400157250464
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.086801528930664,
                "transform": {
                    "location": {
                        "x": 215.0272674560547,
                        "y": 5569.3759765625,
                        "z": 365.4975280761719
                    },
                    "rotation": {
                        "roll": 0.016203725710511208,
                        "pitch": -0.45751336216926575,
                        "yaw": 88.30511474609375
                    }
                },
                "velocity": {
                    "x": 0.12171620875597,
                    "y": 4.0848541259765625,
                    "z": -0.03317591920495033
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.359420123975724e-05,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 4.862041896558367e-05,
                    "y": -2.74602080025943e-05,
                    "z": -4.793848711415194e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.596624374389648,
                "transform": {
                    "location": {
                        "x": 215.3446807861328,
                        "y": 5599.0341796875,
                        "z": 365.28656005859375
                    },
                    "rotation": {
                        "roll": -0.1087035983800888,
                        "pitch": -0.21920807659626007,
                        "yaw": 91.5233383178711
                    }
                },
                "velocity": {
                    "x": -0.3595018684864044,
                    "y": 14.591830253601074,
                    "z": -0.10344187170267105
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012123187771067023,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.4382317364215851,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": -1.5788004020578228e-05,
                    "y": 1.0670582923921756e-05,
                    "z": 0.001212168950587511
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.000730698520783335,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -6.103518535383046e-05,
                        "pitch": 0.037272341549396515,
                        "yaw": -1.783538818359375
                    }
                },
                "velocity": {
                    "x": -2.452870103297755e-05,
                    "y": -6.665486580459401e-05,
                    "z": 0.0007272384827956557
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.9246911657974124e-05,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.4922180175781
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": 0.037292830646038055,
                        "yaw": -0.2018737643957138
                    }
                },
                "velocity": {
                    "x": 4.809535880667681e-07,
                    "y": 3.365999145898968e-05,
                    "z": 3.594484587665647e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.242708620149642e-05,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.343060262115614e-06,
                    "y": 1.559305928822141e-05,
                    "z": 9.109236270887777e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00026287062792107463,
                "transform": {
                    "location": {
                        "x": 217.16241455078125,
                        "y": 5615.1904296875,
                        "z": 365.1742248535156
                    },
                    "rotation": {
                        "roll": 0.004166479222476482,
                        "pitch": 0.4054809808731079,
                        "yaw": -84.2352066040039
                    }
                },
                "velocity": {
                    "x": -1.1924942555197049e-05,
                    "y": 1.6552507076994516e-05,
                    "z": -0.00026207781047560275
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.596701443195343,
                "transform": {
                    "location": {
                        "x": 217.86578369140625,
                        "y": 5605.4306640625,
                        "z": 365.24322509765625
                    },
                    "rotation": {
                        "roll": 0.005104979034513235,
                        "pitch": 0.3703464865684509,
                        "yaw": -86.45664978027344
                    }
                },
                "velocity": {
                    "x": 0.034277647733688354,
                    "y": -0.5957068204879761,
                    "z": 0.0033243463840335608
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9984403848648071,
        "expert_target_speed": 10.0,
        "target_point": [
            8.240096055273527,
            -9.677445600878997
        ],
        "target_point_next": [
            8.970214119451267,
            -60.67221380585963
        ]
    },
    "485": {
        "acceleration": [
            -0.04204031825065613,
            -0.04684552550315857,
            0.004259301349520683
        ],
        "angular_velocity": [
            -0.038633015006780624,
            0.031893253326416016,
            -0.08379736542701721
        ],
        "forward_vector": [
            -0.01706255041062832,
            -0.9998308420181274,
            0.006870811339467764
        ],
        "right_vector": [
            0.9998544454574585,
            -0.01706264540553093,
            4.474003435461782e-05
        ],
        "location": [
            218.49624633789062,
            5588.2236328125,
            365.35577392578125
        ],
        "rotation": [
            -0.0025634756311774254,
            0.39367160201072693,
            -90.9776840209961
        ],
        "velocity": [
            -0.004616650752723217,
            -0.09243951737880707,
            0.0019312762888148427
        ],
        "speed": 0.09255472887648362,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.951403617858887,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -9.095109589907224e-07,
                7.636911504960153e-06,
                -0.00021110940724611282
            ],
            "speed_kmh": 0.0007604980313327591,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.086223602294922,
                "transform": {
                    "location": {
                        "x": 214.12054443359375,
                        "y": 5538.3154296875,
                        "z": 365.75225830078125
                    },
                    "rotation": {
                        "roll": 0.04105055704712868,
                        "pitch": -0.5731143355369568,
                        "yaw": 88.65155792236328
                    }
                },
                "velocity": {
                    "x": 0.25595930218696594,
                    "y": 11.082889556884766,
                    "z": -0.0916382372379303
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3179569244384766,
                "transform": {
                    "location": {
                        "x": 173.25936889648438,
                        "y": 5586.80810546875,
                        "z": 365.6839294433594
                    },
                    "rotation": {
                        "roll": -0.00506591796875,
                        "pitch": -0.8653575778007507,
                        "yaw": 0.23907648026943207
                    }
                },
                "velocity": {
                    "x": 2.317718744277954,
                    "y": 0.009637584909796715,
                    "z": -0.031793203204870224
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005704249488189816,
                "transform": {
                    "location": {
                        "x": 183.77008056640625,
                        "y": 5586.82568359375,
                        "z": 365.5740966796875
                    },
                    "rotation": {
                        "roll": -0.0027770993765443563,
                        "pitch": -0.6925060153007507,
                        "yaw": -0.01797485165297985
                    }
                },
                "velocity": {
                    "x": 3.8872287404956296e-05,
                    "y": 1.8688346244744025e-05,
                    "z": 0.0005687919910997152
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.524064545170404e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.4835018848534673e-05,
                    "y": 9.375062290928327e-06,
                    "z": 4.844438808504492e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000390039524063468,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.009076887741684914,
                        "pitch": -0.6333019137382507,
                        "yaw": 179.0648956298828
                    }
                },
                "velocity": {
                    "x": -2.083107756334357e-05,
                    "y": -3.902913249476114e-06,
                    "z": 0.0003894632973242551
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.086915493011475,
                "transform": {
                    "location": {
                        "x": 215.05679321289062,
                        "y": 5570.3828125,
                        "z": 365.4898376464844
                    },
                    "rotation": {
                        "roll": 0.01936904713511467,
                        "pitch": -0.4336213767528534,
                        "yaw": 88.32027435302734
                    }
                },
                "velocity": {
                    "x": 0.11485663056373596,
                    "y": 4.085192680358887,
                    "z": -0.029793929308652878
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00018277112394571304,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 3.97180556319654e-05,
                    "y": 6.319651583908126e-05,
                    "z": -0.0001668351178523153
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.675004959106445,
                "transform": {
                    "location": {
                        "x": 215.22616577148438,
                        "y": 5602.70068359375,
                        "z": 365.2616271972656
                    },
                    "rotation": {
                        "roll": -0.1543273627758026,
                        "pitch": -0.3661527633666992,
                        "yaw": 92.48174285888672
                    }
                },
                "velocity": {
                    "x": -0.6003440618515015,
                    "y": 14.662354469299316,
                    "z": -0.10353582352399826
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00031306516029872,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.4382317364215851,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": -1.7519518223707564e-05,
                    "y": -4.184649878880009e-05,
                    "z": 0.00030976076959632337
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0009746590512804687,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0002136231050826609,
                        "pitch": 0.03784607723355293,
                        "yaw": -1.783538818359375
                    }
                },
                "velocity": {
                    "x": -2.22676189878257e-05,
                    "y": 6.091222894610837e-05,
                    "z": 0.000972498906776309
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00044621567940339446,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.00012654392048716545,
                        "pitch": 0.037176717072725296,
                        "yaw": -0.2018737643957138
                    }
                },
                "velocity": {
                    "x": 2.6414541935082525e-05,
                    "y": -3.3978838018811075e-06,
                    "z": 0.000445420213509351
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00021124945487827063,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -9.095109589907224e-07,
                    "y": 7.636911504960153e-06,
                    "z": -0.00021110940724611282
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.78810868319124e-05,
                "transform": {
                    "location": {
                        "x": 217.16241455078125,
                        "y": 5615.1904296875,
                        "z": 365.1742248535156
                    },
                    "rotation": {
                        "roll": 0.004166479222476482,
                        "pitch": 0.4054809808731079,
                        "yaw": -84.2352066040039
                    }
                },
                "velocity": {
                    "x": -1.937979732247186e-06,
                    "y": 3.7460772546182852e-06,
                    "z": 5.772721488028765e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.323832631111145,
                "transform": {
                    "location": {
                        "x": 217.8777313232422,
                        "y": 5605.21484375,
                        "z": 365.2442932128906
                    },
                    "rotation": {
                        "roll": 0.005828996654599905,
                        "pitch": 0.411996990442276,
                        "yaw": -86.49584197998047
                    }
                },
                "velocity": {
                    "x": 0.017248107120394707,
                    "y": -0.3233678638935089,
                    "z": 0.0018166160443797708
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.001192331314087,
        "expert_target_speed": 10.0,
        "target_point": [
            8.216053180053967,
            -9.674159745763513
        ],
        "target_point_next": [
            8.96363023295389,
            -60.6686749921831
        ]
    },
    "490": {
        "acceleration": [
            0.05196882411837578,
            0.27377671003341675,
            -0.005478286184370518
        ],
        "angular_velocity": [
            0.007735149003565311,
            -0.05095997825264931,
            -0.029550211504101753
        ],
        "forward_vector": [
            -0.01729305274784565,
            -0.9998263716697693,
            0.006942931097000837
        ],
        "right_vector": [
            0.9998504519462585,
            -0.017293233424425125,
            3.4087566746165976e-05
        ],
        "location": [
            218.4957733154297,
            5588.20556640625,
            365.35589599609375
        ],
        "rotation": [
            -0.001953120925463736,
            0.3978038430213928,
            -90.99089050292969
        ],
        "velocity": [
            -0.001178973470814526,
            -0.06048938259482384,
            0.0013302803272381425
        ],
        "speed": 0.06050087094536625,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.941862106323242,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -5.57027760805795e-06,
                -4.151272605668055e-06,
                -0.0001888152473839
            ],
            "speed_kmh": 0.0006801948138377042,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.343611717224121,
                "transform": {
                    "location": {
                        "x": 214.18905639648438,
                        "y": 5540.99072265625,
                        "z": 365.7300720214844
                    },
                    "rotation": {
                        "roll": 0.026078006252646446,
                        "pitch": -0.5729708671569824,
                        "yaw": 88.44989776611328
                    }
                },
                "velocity": {
                    "x": 0.27890172600746155,
                    "y": 10.339508056640625,
                    "z": -0.08423767238855362
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.14218980073928833,
                "transform": {
                    "location": {
                        "x": 173.689208984375,
                        "y": 5586.81005859375,
                        "z": 365.67620849609375
                    },
                    "rotation": {
                        "roll": -0.00439453125,
                        "pitch": -0.6447766423225403,
                        "yaw": 0.22197745740413666
                    }
                },
                "velocity": {
                    "x": 0.14218270778656006,
                    "y": 0.0008228304795920849,
                    "z": -0.0011582565493881702
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0911797359585762,
                "transform": {
                    "location": {
                        "x": 183.77694702148438,
                        "y": 5586.82568359375,
                        "z": 365.5740051269531
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.6848152279853821,
                        "yaw": -0.01858520321547985
                    }
                },
                "velocity": {
                    "x": 0.09114810079336166,
                    "y": 0.00011941380216740072,
                    "z": -0.0023986815940588713
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.723906254686881e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.407714600849431e-05,
                    "y": -9.029691682371777e-06,
                    "z": 8.984553460322786e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5215351342922077e-05,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008948304690420628,
                        "pitch": -0.6333907246589661,
                        "yaw": 179.06484985351562
                    }
                },
                "velocity": {
                    "x": -1.8848553736461326e-05,
                    "y": 1.5423808008563356e-07,
                    "z": 1.6748797861509956e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.8903045654296875,
                "transform": {
                    "location": {
                        "x": 215.08827209472656,
                        "y": 5571.49853515625,
                        "z": 365.4813232421875
                    },
                    "rotation": {
                        "roll": 0.025391215458512306,
                        "pitch": -0.38967594504356384,
                        "yaw": 88.36122131347656
                    }
                },
                "velocity": {
                    "x": 0.13540171086788177,
                    "y": 4.888286113739014,
                    "z": -0.037449147552251816
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00037540734047070146,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": -9.7117754194187e-06,
                    "y": 1.1940849617531057e-05,
                    "z": 0.0003750916803255677
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.575631141662598,
                "transform": {
                    "location": {
                        "x": 215.0546875,
                        "y": 5606.35107421875,
                        "z": 365.2364501953125
                    },
                    "rotation": {
                        "roll": -0.1738891452550888,
                        "pitch": -0.45215165615081787,
                        "yaw": 93.40924835205078
                    }
                },
                "velocity": {
                    "x": -0.8404141068458557,
                    "y": 14.551013946533203,
                    "z": -0.10352252423763275
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012797644012607634,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.4382317364215851,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": -1.4114453733782284e-05,
                    "y": 2.400010998826474e-06,
                    "z": 0.00012717308709397912
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00012309943849686533,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": 0.03788022696971893,
                        "yaw": -1.7835389375686646
                    }
                },
                "velocity": {
                    "x": -4.0492544940207154e-05,
                    "y": -1.2446513210306875e-05,
                    "z": 0.00011558075493667275
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00040574459126219153,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.00012654392048716545,
                        "pitch": 0.037176717072725296,
                        "yaw": -0.2018737643957138
                    }
                },
                "velocity": {
                    "x": 2.749399300228106e-06,
                    "y": 1.4231833119993098e-05,
                    "z": 0.00040548559627495706
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00018894299864768982,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -5.57027760805795e-06,
                    "y": -4.151272605668055e-06,
                    "z": -0.0001888152473839
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005120454006828368,
                "transform": {
                    "location": {
                        "x": 217.16241455078125,
                        "y": 5615.1904296875,
                        "z": 365.1742248535156
                    },
                    "rotation": {
                        "roll": 0.004166479222476482,
                        "pitch": 0.4054809808731079,
                        "yaw": -84.2352066040039
                    }
                },
                "velocity": {
                    "x": -1.1967592399741989e-05,
                    "y": 1.7381160432705656e-05,
                    "z": -0.0005116103566251695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5300937294960022,
                "transform": {
                    "location": {
                        "x": 217.88351440429688,
                        "y": 5605.09912109375,
                        "z": 365.2449951171875
                    },
                    "rotation": {
                        "roll": 0.006125721149146557,
                        "pitch": 0.43415412306785583,
                        "yaw": -86.45159149169922
                    }
                },
                "velocity": {
                    "x": 0.02879316173493862,
                    "y": -0.5292959213256836,
                    "z": 0.0040145874954760075
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0002427101135254,
        "expert_target_speed": 0,
        "target_point": [
            8.200195320082683,
            -9.672118404045737
        ],
        "target_point_next": [
            8.95944407157142,
            -60.6664612079363
        ]
    },
    "495": {
        "acceleration": [
            -0.042187489569187164,
            -0.11357814073562622,
            0.008983992040157318
        ],
        "angular_velocity": [
            -0.036043718457221985,
            0.0734451487660408,
            -0.08079942315816879
        ],
        "forward_vector": [
            -0.017488032579421997,
            -0.9998222589492798,
            0.007038176991045475
        ],
        "right_vector": [
            0.9998470544815063,
            -0.017488321289420128,
            2.077221688523423e-05
        ],
        "location": [
            218.4957733154297,
            5588.19091796875,
            365.35601806640625
        ],
        "rotation": [
            -0.0011901898542419076,
            0.4032611846923828,
            -91.00206756591797
        ],
        "velocity": [
            -0.0030577622819691896,
            -0.05466005578637123,
            0.0019864081405103207
        ],
        "speed": 0.05474551679126108,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.933815002441406,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -1.5074945167725673e-06,
                -1.1001784514519386e-05,
                0.00017203872266691178
            ],
            "speed_kmh": 0.0006206282424544798,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.955660820007324,
                "transform": {
                    "location": {
                        "x": 214.25897216796875,
                        "y": 5543.5234375,
                        "z": 365.7092590332031
                    },
                    "rotation": {
                        "roll": 0.010042545385658741,
                        "pitch": -0.5641804337501526,
                        "yaw": 88.39453125
                    }
                },
                "velocity": {
                    "x": 0.2779991626739502,
                    "y": 9.951431274414062,
                    "z": -0.08312270790338516
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0016614822670817375,
                "transform": {
                    "location": {
                        "x": 173.68898010253906,
                        "y": 5586.81005859375,
                        "z": 365.67669677734375
                    },
                    "rotation": {
                        "roll": -0.005096435081213713,
                        "pitch": -0.7103533148765564,
                        "yaw": 0.22179971635341644
                    }
                },
                "velocity": {
                    "x": -0.0006989238900132477,
                    "y": 1.7821797882788815e-05,
                    "z": 0.0015072196256369352
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8147605061531067,
                "transform": {
                    "location": {
                        "x": 183.87741088867188,
                        "y": 5586.82470703125,
                        "z": 365.5722961425781
                    },
                    "rotation": {
                        "roll": -0.0004882813082076609,
                        "pitch": -0.6295180320739746,
                        "yaw": -0.02487182430922985
                    }
                },
                "velocity": {
                    "x": 0.8147267699241638,
                    "y": -0.0013940057251602411,
                    "z": -0.0072784423828125
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00026350392727181315,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.1431669665616937e-05,
                    "y": 1.5202502368083515e-07,
                    "z": -0.00026263087056577206
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00020982678688596934,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290588378906
                    },
                    "rotation": {
                        "roll": 0.008712146431207657,
                        "pitch": -0.6335751414299011,
                        "yaw": 179.0648193359375
                    }
                },
                "velocity": {
                    "x": -2.1629555703839287e-05,
                    "y": 6.187343842611881e-06,
                    "z": 0.00020861726079601794
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.312916278839111,
                "transform": {
                    "location": {
                        "x": 215.12445068359375,
                        "y": 5572.79345703125,
                        "z": 365.47198486328125
                    },
                    "rotation": {
                        "roll": 0.05164502188563347,
                        "pitch": -0.3880230188369751,
                        "yaw": 88.38771057128906
                    }
                },
                "velocity": {
                    "x": 0.14647015929222107,
                    "y": 5.310791969299316,
                    "z": -0.03340017423033714
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.96337112155743e-05,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 7.964036740304437e-06,
                    "y": 7.929105549919768e-08,
                    "z": 9.931487875292078e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.512033462524414,
                "transform": {
                    "location": {
                        "x": 214.82640075683594,
                        "y": 5609.97802734375,
                        "z": 365.21038818359375
                    },
                    "rotation": {
                        "roll": -0.1557616889476776,
                        "pitch": -0.4295642375946045,
                        "yaw": 94.29633331298828
                    }
                },
                "velocity": {
                    "x": -1.0629372596740723,
                    "y": 14.472683906555176,
                    "z": -0.1034451574087143
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011427105637267232,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.4382317364215851,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": -1.3102889170113485e-05,
                    "y": 8.603933383710682e-05,
                    "z": 0.0011393914464861155
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.894647231092677e-05,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": 0.03788022696971893,
                        "yaw": -1.7835389375686646
                    }
                },
                "velocity": {
                    "x": 4.047204492962919e-05,
                    "y": 1.9885044821421616e-05,
                    "z": 5.2155679441057146e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003132451674900949,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.00012654392048716545,
                        "pitch": 0.037176717072725296,
                        "yaw": -0.2018737643957138
                    }
                },
                "velocity": {
                    "x": 2.208750265708659e-05,
                    "y": -1.1143325764351175e-06,
                    "z": -0.00031246349681168795
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00017239672888536006,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.5074945167725673e-06,
                    "y": -1.1001784514519386e-05,
                    "z": 0.00017203872266691178
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014009367441758513,
                "transform": {
                    "location": {
                        "x": 217.16241455078125,
                        "y": 5615.1904296875,
                        "z": 365.1742248535156
                    },
                    "rotation": {
                        "roll": 0.004166479222476482,
                        "pitch": 0.4054809808731079,
                        "yaw": -84.2352066040039
                    }
                },
                "velocity": {
                    "x": -2.1969499357510358e-05,
                    "y": 1.4771073438168969e-05,
                    "z": -0.00013756960106547922
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4398074448108673,
                "transform": {
                    "location": {
                        "x": 217.89007568359375,
                        "y": 5604.9853515625,
                        "z": 365.245849609375
                    },
                    "rotation": {
                        "roll": 0.005552990827709436,
                        "pitch": 0.4270438849925995,
                        "yaw": -86.48479461669922
                    }
                },
                "velocity": {
                    "x": 0.02457704208791256,
                    "y": -0.4391062557697296,
                    "z": 0.0035002706572413445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9982138276100159,
        "expert_target_speed": 0,
        "target_point": [
            8.18747217542971,
            -9.670743861265954
        ],
        "target_point_next": [
            8.956860682802562,
            -60.66493468720283
        ]
    },
    "500": {
        "acceleration": [
            0.04620172828435898,
            0.21614469587802887,
            -0.008938979357481003
        ],
        "angular_velocity": [
            0.03275822475552559,
            -0.027746541425585747,
            0.018500613048672676
        ],
        "forward_vector": [
            -0.01763295941054821,
            -0.9998193383216858,
            0.007091700565069914
        ],
        "right_vector": [
            0.999844491481781,
            -0.017633182927966118,
            3.0891966162016615e-05
        ],
        "location": [
            218.495849609375,
            5588.1796875,
            365.3560791015625
        ],
        "rotation": [
            -0.0017700239550322294,
            0.4063279330730438,
            -91.0103759765625
        ],
        "velocity": [
            -0.0005190877709537745,
            -0.037647638469934464,
            0.0008881186950020492
        ],
        "speed": 0.037651216905657155,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.927589416503906,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -6.7005489654548e-06,
                3.7811921629327117e-06,
                -0.0003071111859753728
            ],
            "speed_kmh": 0.0011059471597552376,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.252938270568848,
                "transform": {
                    "location": {
                        "x": 214.3278045654297,
                        "y": 5545.92041015625,
                        "z": 365.689453125
                    },
                    "rotation": {
                        "roll": 0.005584639497101307,
                        "pitch": -0.5594471096992493,
                        "yaw": 88.3408203125
                    }
                },
                "velocity": {
                    "x": 0.26848357915878296,
                    "y": 9.248726844787598,
                    "z": -0.07645954936742783
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.06888935714960098,
                "transform": {
                    "location": {
                        "x": 173.69210815429688,
                        "y": 5586.81005859375,
                        "z": 365.6773376464844
                    },
                    "rotation": {
                        "roll": -0.004760741721838713,
                        "pitch": -0.7809706330299377,
                        "yaw": 0.2199936807155609
                    }
                },
                "velocity": {
                    "x": 0.06886637210845947,
                    "y": 0.0004656024102587253,
                    "z": -0.0017174434615299106
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4838439226150513,
                "transform": {
                    "location": {
                        "x": 184.16461181640625,
                        "y": 5586.82568359375,
                        "z": 365.5692443847656
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": -0.5938370823860168,
                        "yaw": -0.0706787034869194
                    }
                },
                "velocity": {
                    "x": 1.48377525806427,
                    "y": -0.0011211398523300886,
                    "z": -0.014239205978810787
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000216451779124327,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 1.9656717995530926e-05,
                    "y": -6.002596819598693e-06,
                    "z": -0.00021547378855757415
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003269375010859221,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008902315981686115,
                        "pitch": -0.6333292722702026,
                        "yaw": 179.0647735595703
                    }
                },
                "velocity": {
                    "x": -2.041801781160757e-05,
                    "y": -9.791497177502606e-06,
                    "z": 0.0003261523670516908
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.176836013793945,
                "transform": {
                    "location": {
                        "x": 215.16326904296875,
                        "y": 5574.220703125,
                        "z": 365.4643249511719
                    },
                    "rotation": {
                        "roll": -0.0493774339556694,
                        "pitch": -0.2775583863258362,
                        "yaw": 88.369873046875
                    }
                },
                "velocity": {
                    "x": 0.17442315816879272,
                    "y": 6.174305438995361,
                    "z": -0.02883402816951275
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00039078242843970656,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 4.3639911950776877e-07,
                    "y": -4.075105607626028e-06,
                    "z": 0.00039076092070899904
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.531622886657715,
                "transform": {
                    "location": {
                        "x": 214.53819274902344,
                        "y": 5613.59619140625,
                        "z": 365.1843566894531
                    },
                    "rotation": {
                        "roll": -0.1594543159008026,
                        "pitch": -0.4048457741737366,
                        "yaw": 95.24222564697266
                    }
                },
                "velocity": {
                    "x": -1.2775604724884033,
                    "y": 14.474987030029297,
                    "z": -0.10317084193229675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009140661568380892,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.4382317364215851,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": -3.2697618735255674e-05,
                    "y": 5.308270829118555e-06,
                    "z": 0.0009134657448157668
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00022966002870816737,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": 0.03843347355723381,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": 1.3475390005623922e-05,
                    "y": 8.904023707145825e-05,
                    "z": 0.00021126754290889949
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005660335882566869,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.00012654392048716545,
                        "pitch": 0.037176717072725296,
                        "yaw": -0.2018737643957138
                    }
                },
                "velocity": {
                    "x": 4.494190307013923e-06,
                    "y": 4.526357224676758e-05,
                    "z": 0.0005642030155286193
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00030720754875801504,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -6.7005489654548e-06,
                    "y": 3.7811921629327117e-06,
                    "z": -0.0003071111859753728
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.05020029842853546,
                "transform": {
                    "location": {
                        "x": 217.16273498535156,
                        "y": 5615.1875,
                        "z": 365.17425537109375
                    },
                    "rotation": {
                        "roll": 0.004682087805122137,
                        "pitch": 0.3989376723766327,
                        "yaw": -84.23715209960938
                    }
                },
                "velocity": {
                    "x": 0.005144853610545397,
                    "y": -0.0499359630048275,
                    "z": -3.3283233733527595e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5490973591804504,
                "transform": {
                    "location": {
                        "x": 217.89671325683594,
                        "y": 5604.85791015625,
                        "z": 365.2469177246094
                    },
                    "rotation": {
                        "roll": 0.004719010554254055,
                        "pitch": 0.41492030024528503,
                        "yaw": -86.5071792602539
                    }
                },
                "velocity": {
                    "x": 0.026935620233416557,
                    "y": -0.5484247207641602,
                    "z": 0.003564758226275444
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9994108080863953,
        "expert_target_speed": 0,
        "target_point": [
            8.177655790550052,
            -9.669823434890663
        ],
        "target_point_next": [
            8.954484962767944,
            -60.66390145483856
        ]
    },
    "505": {
        "acceleration": [
            -0.04327181726694107,
            -0.19037626683712006,
            -0.007354163099080324
        ],
        "angular_velocity": [
            -0.05286101996898651,
            0.034477297216653824,
            -0.08986634761095047
        ],
        "forward_vector": [
            -0.017768224701285362,
            -0.999816358089447,
            0.007177529390901327
        ],
        "right_vector": [
            0.99984210729599,
            -0.01776859164237976,
            1.2783332749677356e-05
        ],
        "location": [
            218.495849609375,
            5588.16845703125,
            365.3561096191406
        ],
        "rotation": [
            -0.0007324498728848994,
            0.4112456738948822,
            -91.01812744140625
        ],
        "velocity": [
            -0.00286943675018847,
            -0.05062500387430191,
            0.0013352202950045466
        ],
        "speed": 0.05070625883001442,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.92143440246582,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -5.721281922888011e-06,
                4.5853548726881854e-06,
                -8.05114905233495e-05
            ],
            "speed_kmh": 0.0002910407671369012,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.946754455566406,
                "transform": {
                    "location": {
                        "x": 214.39398193359375,
                        "y": 5548.19189453125,
                        "z": 365.67095947265625
                    },
                    "rotation": {
                        "roll": 0.0016786465421319008,
                        "pitch": -0.5392161011695862,
                        "yaw": 88.32465362548828
                    }
                },
                "velocity": {
                    "x": 0.2611924409866333,
                    "y": 8.942644119262695,
                    "z": -0.0728372186422348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7474603652954102,
                "transform": {
                    "location": {
                        "x": 173.7832794189453,
                        "y": 5586.81005859375,
                        "z": 365.6765441894531
                    },
                    "rotation": {
                        "roll": -0.004943847190588713,
                        "pitch": -0.8449968099594116,
                        "yaw": 0.2325650006532669
                    }
                },
                "velocity": {
                    "x": 0.7473499178886414,
                    "y": 0.006252778694033623,
                    "z": -0.011226434260606766
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016963399248197675,
                "transform": {
                    "location": {
                        "x": 184.4774932861328,
                        "y": 5586.82470703125,
                        "z": 365.56768798828125
                    },
                    "rotation": {
                        "roll": 0.00018170692783314735,
                        "pitch": -0.755862832069397,
                        "yaw": -0.06634521484375
                    }
                },
                "velocity": {
                    "x": 0.0016346112824976444,
                    "y": -8.448113658232614e-05,
                    "z": -0.0004455088637769222
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006163978250697255,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 1.7679705706541426e-05,
                    "y": -8.430029083683621e-06,
                    "z": -0.0006160865304991603
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007692980580031872,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008902315981686115,
                        "pitch": -0.6333292722702026,
                        "yaw": 179.0647735595703
                    }
                },
                "velocity": {
                    "x": -2.7949065042776056e-05,
                    "y": 1.3346245395950973e-05,
                    "z": 0.0007686743047088385
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.859916687011719,
                "transform": {
                    "location": {
                        "x": 215.2050018310547,
                        "y": 5575.73876953125,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": -0.06469728797674179,
                        "pitch": -0.33368203043937683,
                        "yaw": 88.37892150878906
                    }
                },
                "velocity": {
                    "x": 0.15039782226085663,
                    "y": 5.857760906219482,
                    "z": -0.051384344696998596
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.530435297871009e-05,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 3.0144563424983062e-05,
                    "y": 7.30433312128298e-05,
                    "z": -3.21373445331119e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.527647972106934,
                "transform": {
                    "location": {
                        "x": 214.193359375,
                        "y": 5617.21240234375,
                        "z": 365.15838623046875
                    },
                    "rotation": {
                        "roll": -0.1711120307445526,
                        "pitch": -0.4084111452102661,
                        "yaw": 96.14781951904297
                    }
                },
                "velocity": {
                    "x": -1.5205276012420654,
                    "y": 14.447484970092773,
                    "z": -0.10359246283769608
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007597739459015429,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.4382317364215851,
                        "yaw": 179.98358154296875
                    }
                },
                "velocity": {
                    "x": -1.860253541963175e-05,
                    "y": -2.4708673663553782e-05,
                    "z": 0.0007591441972181201
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0001490872964495793,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": 0.03843347355723381,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": 2.742463220783975e-05,
                    "y": 3.943675255868584e-05,
                    "z": 0.00014113700308371335
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.5921566197648644e-05,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.00012654392048716545,
                        "pitch": 0.037176717072725296,
                        "yaw": -0.2018737643957138
                    }
                },
                "velocity": {
                    "x": -4.971735052095028e-06,
                    "y": -1.83934153028531e-05,
                    "z": 4.17822266172152e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.084465662250295e-05,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -5.721281922888011e-06,
                    "y": 4.5853548726881854e-06,
                    "z": -8.05114905233495e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6455087661743164,
                "transform": {
                    "location": {
                        "x": 217.1699981689453,
                        "y": 5615.111328125,
                        "z": 365.17523193359375
                    },
                    "rotation": {
                        "roll": 0.003342533716931939,
                        "pitch": 0.3526563048362732,
                        "yaw": -84.22399139404297
                    }
                },
                "velocity": {
                    "x": 0.06212572753429413,
                    "y": -0.6425031423568726,
                    "z": 0.003415727522224188
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6606288552284241,
                "transform": {
                    "location": {
                        "x": 217.90187072753906,
                        "y": 5604.76171875,
                        "z": 365.2477722167969
                    },
                    "rotation": {
                        "roll": 0.004961579572409391,
                        "pitch": 0.38977837562561035,
                        "yaw": -86.49622344970703
                    }
                },
                "velocity": {
                    "x": 0.03515927493572235,
                    "y": -0.6596788763999939,
                    "z": 0.004255352076143026
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.998953640460968,
        "expert_target_speed": 0,
        "target_point": [
            8.167731914057345,
            -9.66891937535624
        ],
        "target_point_next": [
            8.951442470744519,
            -60.66289210185285
        ]
    },
    "510": {
        "acceleration": [
            -0.13859017193317413,
            -2.6337318420410156,
            0.011623380705714226
        ],
        "angular_velocity": [
            -0.669282853603363,
            0.12047626078128815,
            -0.22534827888011932
        ],
        "forward_vector": [
            -0.01789206452667713,
            -0.9998009204864502,
            0.008829478174448013
        ],
        "right_vector": [
            0.9998399019241333,
            -0.017893746495246887,
            -0.00011161714064655825
        ],
        "location": [
            218.494140625,
            5588.11865234375,
            365.356201171875
        ],
        "rotation": [
            0.006395440548658371,
            0.5058984160423279,
            -91.02523803710938
        ],
        "velocity": [
            -0.018280040472745895,
            -0.44127291440963745,
            0.002727088751271367
        ],
        "speed": 0.4416513838665746,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.89564037322998,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                1.1902302077260174e-07,
                1.78429763764143e-05,
                -0.00020559590484481305
            ],
            "speed_kmh": 0.0007429275094622787,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.285747528076172,
                "transform": {
                    "location": {
                        "x": 214.45726013183594,
                        "y": 5550.341796875,
                        "z": 365.65380859375
                    },
                    "rotation": {
                        "roll": 0.0010218253592029214,
                        "pitch": -0.5383896231651306,
                        "yaw": 88.30757141113281
                    }
                },
                "velocity": {
                    "x": 0.24529218673706055,
                    "y": 8.281844139099121,
                    "z": -0.0671454444527626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6290704011917114,
                "transform": {
                    "location": {
                        "x": 174.0879669189453,
                        "y": 5586.81103515625,
                        "z": 365.6725158691406
                    },
                    "rotation": {
                        "roll": -0.004425048362463713,
                        "pitch": -0.8721604943275452,
                        "yaw": 0.2642253339290619
                    }
                },
                "velocity": {
                    "x": 1.6288962364196777,
                    "y": 0.007556234486401081,
                    "z": -0.02259111776947975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006722536636516452,
                "transform": {
                    "location": {
                        "x": 184.47789001464844,
                        "y": 5586.82470703125,
                        "z": 365.5672302246094
                    },
                    "rotation": {
                        "roll": 0.00026424319366924465,
                        "pitch": -0.7016584873199463,
                        "yaw": -0.06637571007013321
                    }
                },
                "velocity": {
                    "x": -0.0004066738474648446,
                    "y": 0.00011190101940883324,
                    "z": 0.0005234687123447657
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.660760168917477e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.426840364933014e-05,
                    "y": -1.0850641046999954e-05,
                    "z": 3.8282851164694875e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002781563380267471,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008902315981686115,
                        "pitch": -0.6333292722702026,
                        "yaw": 179.0647735595703
                    }
                },
                "velocity": {
                    "x": -2.3649632566957735e-05,
                    "y": -8.306446943606716e-06,
                    "z": 0.000277024635579437
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.94378137588501,
                "transform": {
                    "location": {
                        "x": 215.2418670654297,
                        "y": 5577.189453125,
                        "z": 365.4439697265625
                    },
                    "rotation": {
                        "roll": -0.09350582212209702,
                        "pitch": -0.5091222524642944,
                        "yaw": 88.50232696533203
                    }
                },
                "velocity": {
                    "x": 0.1448201835155487,
                    "y": 5.941871166229248,
                    "z": -0.04160577803850174
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00019263099238742143,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": -2.1185054720262997e-05,
                    "y": -7.140367233660072e-05,
                    "z": 0.00017764967924449593
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.543434143066406,
                "transform": {
                    "location": {
                        "x": 213.79039001464844,
                        "y": 5620.82373046875,
                        "z": 365.1321716308594
                    },
                    "rotation": {
                        "roll": -0.1784057319164276,
                        "pitch": -0.4188545048236847,
                        "yaw": 97.09444427490234
                    }
                },
                "velocity": {
                    "x": -1.7673604488372803,
                    "y": 14.435267448425293,
                    "z": -0.10471045225858688
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015586070949211717,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": -0.4383547008037567,
                        "yaw": 179.9832763671875
                    }
                },
                "velocity": {
                    "x": -2.049215072474908e-05,
                    "y": 4.766023994307034e-05,
                    "z": 0.0015577435260638595
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00011768186959670857,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": 0.03843347355723381,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": 1.3039484656474087e-05,
                    "y": -2.1707241103285924e-05,
                    "z": -0.00011492514749988914
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009859780548140407,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.00012654392048716545,
                        "pitch": 0.037176717072725296,
                        "yaw": -0.2018737643957138
                    }
                },
                "velocity": {
                    "x": -5.021416654926725e-06,
                    "y": -3.0945241178415017e-06,
                    "z": 0.000985960359685123
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002063687570625916,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": 1.1902302077260174e-07,
                    "y": 1.78429763764143e-05,
                    "z": -0.00020559590484481305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4922021627426147,
                "transform": {
                    "location": {
                        "x": 217.197021484375,
                        "y": 5614.83154296875,
                        "z": 365.1773376464844
                    },
                    "rotation": {
                        "roll": 0.003183212364092469,
                        "pitch": 0.3239763379096985,
                        "yaw": -84.28108978271484
                    }
                },
                "velocity": {
                    "x": 0.14201505482196808,
                    "y": -1.48539400100708,
                    "z": 0.010179891251027584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5832635760307312,
                "transform": {
                    "location": {
                        "x": 217.90843200683594,
                        "y": 5604.66162109375,
                        "z": 365.2484436035156
                    },
                    "rotation": {
                        "roll": 0.0038735950365662575,
                        "pitch": 0.39237385988235474,
                        "yaw": -86.6306381225586
                    }
                },
                "velocity": {
                    "x": 0.026160499081015587,
                    "y": -0.5826637744903564,
                    "z": 0.0038712976966053247
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0012949705123901,
        "expert_target_speed": 0,
        "target_point": [
            8.119066410714138,
            -9.667120131746175
        ],
        "target_point_next": [
            8.90890454863069,
            -60.6609983171052
        ]
    },
    "515": {
        "acceleration": [
            -0.01506216824054718,
            -0.8976304531097412,
            0.006083673797547817
        ],
        "angular_velocity": [
            -0.042587894946336746,
            -0.007737923413515091,
            0.4438480734825134
        ],
        "forward_vector": [
            -0.02035440132021904,
            -0.999748945236206,
            0.009365063160657883
        ],
        "right_vector": [
            0.999792754650116,
            -0.020356951281428337,
            -0.00017695360293146223
        ],
        "location": [
            218.48851013183594,
            5587.98291015625,
            365.3570251464844
        ],
        "rotation": [
            0.010139139369130135,
            0.5365864634513855,
            -91.16635131835938
        ],
        "velocity": [
            -0.031986065208911896,
            -0.6850979328155518,
            0.0041603753343224525
        ],
        "speed": 0.6858442140280043,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.826773643493652,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -8.43513771542348e-06,
                -3.313959950901335e-07,
                -1.9922503270208836e-05
            ],
            "speed_kmh": 7.789384382242432e-05,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050430297851562,
                "transform": {
                    "location": {
                        "x": 214.51788330078125,
                        "y": 5552.3798828125,
                        "z": 365.6375427246094
                    },
                    "rotation": {
                        "roll": 0.000612822244875133,
                        "pitch": -0.5303710103034973,
                        "yaw": 88.29339599609375
                    }
                },
                "velocity": {
                    "x": 0.23947487771511078,
                    "y": 8.046615600585938,
                    "z": -0.06372253596782684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.016188144683838,
                "transform": {
                    "location": {
                        "x": 174.578125,
                        "y": 5586.8134765625,
                        "z": 365.66558837890625
                    },
                    "rotation": {
                        "roll": -0.006622313521802425,
                        "pitch": -0.8423808217048645,
                        "yaw": 0.26217180490493774
                    }
                },
                "velocity": {
                    "x": 2.0159718990325928,
                    "y": 0.008401449769735336,
                    "z": -0.028308501467108727
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.358103640493937e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.341516301385127e-05,
                    "y": -4.768569397128886e-07,
                    "z": -2.4066339392447844e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.174090150219854e-05,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008902315981686115,
                        "pitch": -0.6333292722702026,
                        "yaw": 179.0647735595703
                    }
                },
                "velocity": {
                    "x": -1.9359364159754477e-05,
                    "y": 3.1272196565623744e-07,
                    "z": 9.888579370453954e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.012190341949463,
                "transform": {
                    "location": {
                        "x": 215.28195190429688,
                        "y": 5578.8037109375,
                        "z": 365.4298400878906
                    },
                    "rotation": {
                        "roll": -0.0708923265337944,
                        "pitch": -0.5125988125801086,
                        "yaw": 88.63005828857422
                    }
                },
                "velocity": {
                    "x": 0.163810133934021,
                    "y": 7.009962558746338,
                    "z": -0.06633878499269485
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.587311195791699e-05,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 4.184218050795607e-05,
                    "y": 1.2585314834723249e-05,
                    "z": -1.3970840882393532e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.528922080993652,
                "transform": {
                    "location": {
                        "x": 213.3309326171875,
                        "y": 5624.4287109375,
                        "z": 365.1056213378906
                    },
                    "rotation": {
                        "roll": -0.14950557053089142,
                        "pitch": -0.42511093616485596,
                        "yaw": 97.93352508544922
                    }
                },
                "velocity": {
                    "x": -1.980700135231018,
                    "y": 14.392876625061035,
                    "z": -0.1073022335767746
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004942156956531107,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.5139664495728056e-12,
                        "pitch": -0.4383547008037567,
                        "yaw": 179.98321533203125
                    }
                },
                "velocity": {
                    "x": -1.7351061615045182e-05,
                    "y": 4.625578731065616e-05,
                    "z": 0.0004917402984574437
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003466346825007349,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.037716303020715714,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": -4.270162389730103e-05,
                    "y": -1.1433286090323236e-05,
                    "z": 0.0003438043931964785
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.602365465369076e-05,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.00012654392048716545,
                        "pitch": 0.037176717072725296,
                        "yaw": -0.2018737643957138
                    }
                },
                "velocity": {
                    "x": -9.665773177403025e-06,
                    "y": 7.652723752471502e-07,
                    "z": -6.530780956381932e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1637179088429548e-05,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -8.43513771542348e-06,
                    "y": -3.313959950901335e-07,
                    "z": -1.9922503270208836e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006374045624397695,
                "transform": {
                    "location": {
                        "x": 217.20632934570312,
                        "y": 5614.7353515625,
                        "z": 365.1766052246094
                    },
                    "rotation": {
                        "roll": 0.003724460257217288,
                        "pitch": 0.4963839650154114,
                        "yaw": -84.2957763671875
                    }
                },
                "velocity": {
                    "x": -0.00015480945876333863,
                    "y": 0.0004734407993964851,
                    "z": 0.000397708936361596
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6517508625984192,
                "transform": {
                    "location": {
                        "x": 217.91421508789062,
                        "y": 5604.560546875,
                        "z": 365.2491760253906
                    },
                    "rotation": {
                        "roll": 0.0034781387075781822,
                        "pitch": 0.38513386249542236,
                        "yaw": -86.67962646484375
                    }
                },
                "velocity": {
                    "x": 0.03458235412836075,
                    "y": -0.6508198976516724,
                    "z": 0.004087142646312714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9985383152961731,
        "expert_target_speed": 0,
        "target_point": [
            8.00707708421259,
            -9.644182187719785
        ],
        "target_point_next": [
            8.922795459816488,
            -60.63595521557128
        ]
    },
    "520": {
        "acceleration": [
            -0.15442177653312683,
            -1.177995204925537,
            0.001791762188076973
        ],
        "angular_velocity": [
            -0.017026932910084724,
            0.09395545721054077,
            -2.4171836376190186
        ],
        "forward_vector": [
            -0.02481345273554325,
            -0.9996455907821655,
            0.009643761441111565
        ],
        "right_vector": [
            0.9996919631958008,
            -0.024818185716867447,
            -0.00037159858038648963
        ],
        "location": [
            218.47764587402344,
            5587.76416015625,
            365.3585510253906
        ],
        "rotation": [
            0.02129202149808407,
            0.5525554418563843,
            -91.42192077636719
        ],
        "velocity": [
            -0.06324131786823273,
            -1.0222809314727783,
            0.00642704963684082
        ],
        "speed": 1.0242352108468846,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.71927547454834,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -5.891397449886426e-06,
                -3.3976346003328217e-06,
                0.00012220631469972432
            ],
            "speed_kmh": 0.00044062346788513484,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.430696487426758,
                "transform": {
                    "location": {
                        "x": 214.57554626464844,
                        "y": 5554.31103515625,
                        "z": 365.6221008300781
                    },
                    "rotation": {
                        "roll": -0.0001831155677791685,
                        "pitch": -0.5292098522186279,
                        "yaw": 88.28670501708984
                    }
                },
                "velocity": {
                    "x": 0.22196361422538757,
                    "y": 7.4271440505981445,
                    "z": -0.059266041964292526
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008325413800776005,
                "transform": {
                    "location": {
                        "x": 174.76937866210938,
                        "y": 5586.814453125,
                        "z": 365.66107177734375
                    },
                    "rotation": {
                        "roll": -0.007232664618641138,
                        "pitch": -0.620051383972168,
                        "yaw": 0.27385854721069336
                    }
                },
                "velocity": {
                    "x": -0.0005468933959491551,
                    "y": 3.059894879697822e-05,
                    "z": 0.0006269740406423807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00021806589211337268,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 1.864269324869383e-05,
                    "y": 3.71930673281895e-06,
                    "z": -0.00021723570534959435
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002535124949645251,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008902315981686115,
                        "pitch": -0.6333292722702026,
                        "yaw": 179.0647735595703
                    }
                },
                "velocity": {
                    "x": -2.2669060854241252e-05,
                    "y": -9.682301424618345e-06,
                    "z": 0.0002523112343624234
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.65280818939209,
                "transform": {
                    "location": {
                        "x": 215.32484436035156,
                        "y": 5580.67822265625,
                        "z": 365.4123229980469
                    },
                    "rotation": {
                        "roll": -0.023315444588661194,
                        "pitch": -0.49246343970298767,
                        "yaw": 88.77601623535156
                    }
                },
                "velocity": {
                    "x": 0.14741961658000946,
                    "y": 7.651089191436768,
                    "z": -0.06764547526836395
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00023704770137555897,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": -1.6352123566321097e-05,
                    "y": -4.958903809892945e-05,
                    "z": 0.00023122530546970665
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5105,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.54279613494873,
                "transform": {
                    "location": {
                        "x": 212.81475830078125,
                        "y": 5628.025390625,
                        "z": 365.0784606933594
                    },
                    "rotation": {
                        "roll": -0.1492919921875,
                        "pitch": -0.4307868480682373,
                        "yaw": 98.81781005859375
                    }
                },
                "velocity": {
                    "x": -2.1814401149749756,
                    "y": 14.377851486206055,
                    "z": -0.10783952474594116
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016139018116518855,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.5139664495728056e-12,
                        "pitch": -0.4383547008037567,
                        "yaw": 179.98321533203125
                    }
                },
                "velocity": {
                    "x": -2.8401613235473633e-05,
                    "y": -3.392131475266069e-05,
                    "z": 0.0016132952878251672
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004891249118372798,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": 0.03765483200550079,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": 2.808868885040283e-06,
                    "y": -5.626899564958876e-06,
                    "z": 0.0004890844575129449
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004662001156248152,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.00012654392048716545,
                        "pitch": 0.037176717072725296,
                        "yaw": -0.2018737643957138
                    }
                },
                "velocity": {
                    "x": -3.0607449730268854e-07,
                    "y": -2.4862958525773138e-05,
                    "z": 0.00046553657739423215
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012239540228620172,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -5.891397449886426e-06,
                    "y": -3.3976346003328217e-06,
                    "z": 0.00012220631469972432
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011510407784953713,
                "transform": {
                    "location": {
                        "x": 217.20623779296875,
                        "y": 5614.736328125,
                        "z": 365.17724609375
                    },
                    "rotation": {
                        "roll": 0.00313871493563056,
                        "pitch": 0.4171196222305298,
                        "yaw": -84.2957763671875
                    }
                },
                "velocity": {
                    "x": -1.2237871487741359e-05,
                    "y": 0.00021318159997463226,
                    "z": 0.0011310608824715018
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7248651385307312,
                "transform": {
                    "location": {
                        "x": 217.92140197753906,
                        "y": 5604.4423828125,
                        "z": 365.24993896484375
                    },
                    "rotation": {
                        "roll": 0.0021988374646753073,
                        "pitch": 0.38708728551864624,
                        "yaw": -86.76254272460938
                    }
                },
                "velocity": {
                    "x": 0.04030102118849754,
                    "y": -0.7237247228622437,
                    "z": 0.005273485090583563
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9984347820281982,
        "expert_target_speed": 0,
        "target_point": [
            7.831029274521892,
            -9.602966102368656
        ],
        "target_point_next": [
            8.974007977618081,
            -60.59015131935834
        ]
    },
    "525": {
        "acceleration": [
            -0.17693042755126953,
            -1.355118751525879,
            0.028428267687559128
        ],
        "angular_velocity": [
            -0.03715536370873451,
            0.0035471091978251934,
            -1.8075592517852783
        ],
        "forward_vector": [
            -0.03478803113102913,
            -0.999345600605011,
            0.009904222562909126
        ],
        "right_vector": [
            0.9993941187858582,
            -0.0347973108291626,
            -0.0007663597352802753
        ],
        "location": [
            218.4560089111328,
            5587.4609375,
            365.3605041503906
        ],
        "rotation": [
            0.04391133785247803,
            0.5674794316291809,
            -91.99370574951172
        ],
        "velocity": [
            -0.12057004868984222,
            -1.3884631395339966,
            0.01008856762200594
        ],
        "speed": 1.393688281677676,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.580048561096191,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                4.166736999877685e-08,
                2.017760562011972e-05,
                -0.00024532072711735964
            ],
            "speed_kmh": 0.0008861368859771306,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 215.10076904296875,
                        "y": 5509.27783203125,
                        "z": 366.1931457519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5155016779899597,
                        "yaw": 95.91863250732422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.2584147453308105,
                "transform": {
                    "location": {
                        "x": 214.630615234375,
                        "y": 5556.14501953125,
                        "z": 365.6075439453125
                    },
                    "rotation": {
                        "roll": -0.000274686113698408,
                        "pitch": -0.5156860947608948,
                        "yaw": 88.27350616455078
                    }
                },
                "velocity": {
                    "x": 0.2185409814119339,
                    "y": 7.254892826080322,
                    "z": -0.05792279168963432
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001273578847758472,
                "transform": {
                    "location": {
                        "x": 174.76866149902344,
                        "y": 5586.814453125,
                        "z": 365.66217041015625
                    },
                    "rotation": {
                        "roll": -0.007598877884447575,
                        "pitch": -0.7584241628646851,
                        "yaw": 0.27383649349212646
                    }
                },
                "velocity": {
                    "x": -0.000300661165965721,
                    "y": 0.00014349354023579508,
                    "z": 0.0012292336905375123
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.395027882419527e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.6654302928363904e-05,
                    "y": 9.527866495773196e-07,
                    "z": 9.008493361761793e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002485921431798488,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290588378906
                    },
                    "rotation": {
                        "roll": 0.008885775692760944,
                        "pitch": -0.6335409879684448,
                        "yaw": 179.06459045410156
                    }
                },
                "velocity": {
                    "x": -1.4659017324447632e-05,
                    "y": 1.879916453617625e-05,
                    "z": -0.00024744647089391947
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.280076026916504,
                "transform": {
                    "location": {
                        "x": 215.36428833007812,
                        "y": 5582.83935546875,
                        "z": 365.3929748535156
                    },
                    "rotation": {
                        "roll": -0.0008240098250098526,
                        "pitch": -0.44564250111579895,
                        "yaw": 89.08612060546875
                    }
                },
                "velocity": {
                    "x": 0.1412750482559204,
                    "y": 9.278684616088867,
                    "z": -0.07663364708423615
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00037284736754372716,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": -1.1570006108740927e-06,
                    "y": -7.132445261959219e-06,
                    "z": 0.00037277734372764826
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010042135836556554,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -6.5139664495728056e-12,
                        "pitch": -0.4383547008037567,
                        "yaw": 179.98321533203125
                    }
                },
                "velocity": {
                    "x": -3.7129146221559495e-05,
                    "y": -3.6774101317860186e-05,
                    "z": 0.0010028529213741422
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00014903140254318714,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": 0.037477247416973114,
                        "yaw": -1.7835084199905396
                    }
                },
                "velocity": {
                    "x": -7.542087587353308e-06,
                    "y": 1.0590310921543278e-05,
                    "z": -0.0001484631939092651
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010666628368198872,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 0.00012654392048716545,
                        "pitch": 0.037176717072725296,
                        "yaw": -0.2018737643957138
                    }
                },
                "velocity": {
                    "x": -1.940011679835152e-05,
                    "y": 4.634966535377316e-05,
                    "z": 0.0010654787765815854
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002461491385474801,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": 4.166736999877685e-08,
                    "y": 2.017760562011972e-05,
                    "z": -0.00024532072711735964
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.40033626556396484,
                "transform": {
                    "location": {
                        "x": 217.20960998535156,
                        "y": 5614.705078125,
                        "z": 365.17791748046875
                    },
                    "rotation": {
                        "roll": 0.0027714886236935854,
                        "pitch": 0.375100314617157,
                        "yaw": -84.32115936279297
                    }
                },
                "velocity": {
                    "x": 0.04032186046242714,
                    "y": -0.3982939124107361,
                    "z": 0.002286128932610154
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6289737224578857,
                "transform": {
                    "location": {
                        "x": 217.92694091796875,
                        "y": 5604.34228515625,
                        "z": 365.2507019042969
                    },
                    "rotation": {
                        "roll": 0.0027956003323197365,
                        "pitch": 0.3920186758041382,
                        "yaw": -86.76959228515625
                    }
                },
                "velocity": {
                    "x": 0.036254264414310455,
                    "y": -0.6279180645942688,
                    "z": 0.0035288904327899218
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9992782473564148,
        "expert_target_speed": 0,
        "target_point": [
            7.6226853795766765,
            -9.513259007940087
        ],
        "target_point_next": [
            9.27446110648853,
            -60.48649800268445
        ]
    },
    "530": {
        "acceleration": [
            -0.5529838800430298,
            -1.1183595657348633,
            -0.0021263211965560913
        ],
        "angular_velocity": [
            0.0778413638472557,
            0.1869947463274002,
            -5.900354862213135
        ],
        "forward_vector": [
            -0.05106211453676224,
            -0.9986489415168762,
            0.009641498327255249
        ],
        "right_vector": [
            0.9986938238143921,
            -0.051077499985694885,
            -0.0013560893712565303
        ],
        "location": [
            218.41827392578125,
            5587.0771484375,
            365.36334228515625
        ],
        "rotation": [
            0.07770183682441711,
            0.5524256825447083,
            -92.92705535888672
        ],
        "velocity": [
            -0.21585580706596375,
            -1.6648914813995361,
            0.010697221383452415
        ],
        "speed": 1.6788261894195124,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.4201078414917,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -3.013443119925796e-06,
                -1.1268503840256017e-05,
                -9.530872921459377e-05
            ],
            "speed_kmh": 0.0003456715029044976,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.8914031982422,
                        "y": 5511.5224609375,
                        "z": 366.0124816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.669254302978516,
                "transform": {
                    "location": {
                        "x": 214.68304443359375,
                        "y": 5557.88232421875,
                        "z": 365.59381103515625
                    },
                    "rotation": {
                        "roll": -0.00033570671803317964,
                        "pitch": -0.5157133936882019,
                        "yaw": 88.27012634277344
                    }
                },
                "velocity": {
                    "x": 0.20117610692977905,
                    "y": 6.66601037979126,
                    "z": -0.05281028524041176
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008193112444132566,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6623840332031
                    },
                    "rotation": {
                        "roll": -0.004974364768713713,
                        "pitch": -0.7791401147842407,
                        "yaw": 0.27381420135498047
                    }
                },
                "velocity": {
                    "x": -1.2968629562237766e-05,
                    "y": -6.840361311333254e-05,
                    "z": 0.0008163477177731693
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.506591595709324e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.1923779058852233e-05,
                    "y": -1.0742706763267051e-05,
                    "z": -9.187747491523623e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002755038731265813,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290588378906
                    },
                    "rotation": {
                        "roll": 0.008700714446604252,
                        "pitch": -0.6336365938186646,
                        "yaw": 179.0645294189453
                    }
                },
                "velocity": {
                    "x": -1.4081149856792763e-05,
                    "y": -3.659399112621031e-07,
                    "z": -0.00027514356770552695
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.067360877990723,
                "transform": {
                    "location": {
                        "x": 215.400146484375,
                        "y": 5585.265625,
                        "z": 365.3739013671875
                    },
                    "rotation": {
                        "roll": -0.005767793860286474,
                        "pitch": -0.379054993391037,
                        "yaw": 89.32112121582031
                    }
                },
                "velocity": {
                    "x": 0.11348559707403183,
                    "y": 10.066446304321289,
                    "z": -0.07437188923358917
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001088937497115694,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 1.9263214198872447e-05,
                    "y": 2.5659748644102365e-05,
                    "z": 0.00010405937791801989
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010655596852302551,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.43902403116226196,
                        "yaw": 179.9832000732422
                    }
                },
                "velocity": {
                    "x": -1.381471702188719e-05,
                    "y": 1.9351471564732492e-05,
                    "z": 0.0010652943747118115
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00014980217383708805,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": 0.037538718432188034,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": 2.511310412955936e-05,
                    "y": 5.3174426284385845e-05,
                    "z": 0.00013777700951322913
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00020314015273470432,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.03698547184467316,
                        "yaw": -0.20184326171875
                    }
                },
                "velocity": {
                    "x": 1.349113887272324e-07,
                    "y": 1.3851982657797635e-05,
                    "z": 0.0002026672736974433
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.601986675988883e-05,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -3.013443119925796e-06,
                    "y": -1.1268503840256017e-05,
                    "z": -9.530872921459377e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2596977949142456,
                "transform": {
                    "location": {
                        "x": 217.22967529296875,
                        "y": 5614.49853515625,
                        "z": 365.1797180175781
                    },
                    "rotation": {
                        "roll": 0.0025418975856155157,
                        "pitch": 0.3229108452796936,
                        "yaw": -84.34590911865234
                    }
                },
                "velocity": {
                    "x": 0.12024477869272232,
                    "y": -1.253919005393982,
                    "z": 0.008179979398846626
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7786014080047607,
                "transform": {
                    "location": {
                        "x": 217.9334259033203,
                        "y": 5604.21484375,
                        "z": 365.2515869140625
                    },
                    "rotation": {
                        "roll": 0.003418706124648452,
                        "pitch": 0.38329654932022095,
                        "yaw": -86.74864959716797
                    }
                },
                "velocity": {
                    "x": 0.04225429520010948,
                    "y": -0.7774373292922974,
                    "z": 0.0050925156101584435
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0014631748199463,
        "expert_target_speed": 10.0,
        "target_point": [
            7.391429101746359,
            -9.369736004314523
        ],
        "target_point_next": [
            9.873336870015391,
            -60.30930402856408
        ]
    },
    "535": {
        "acceleration": [
            -1.4821213483810425,
            -1.8072962760925293,
            -0.0182378850877285
        ],
        "angular_velocity": [
            -0.16437335312366486,
            0.577587366104126,
            -11.645294189453125
        ],
        "forward_vector": [
            -0.08918507397174835,
            -0.9959664344787598,
            0.009847361594438553
        ],
        "right_vector": [
            0.9960029125213623,
            -0.0892285481095314,
            -0.004066529683768749
        ],
        "location": [
            218.3360137939453,
            5586.619140625,
            365.36651611328125
        ],
        "rotation": [
            0.23300692439079285,
            0.5642213821411133,
            -95.11697387695312
        ],
        "velocity": [
            -0.5076256394386292,
            -2.0210556983947754,
            0.013584841974079609
        ],
        "speed": 2.083830589522447,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.376154899597168,
        "front_vehicle_info": {
            "id": 5101,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                203.96139526367188,
                5586.78759765625,
                365.49224853515625
            ],
            "velocity": [
                -6.8944086706324015e-06,
                1.3668597603100352e-05,
                0.0012709047878161073
            ],
            "speed_kmh": 0.004575589156262103,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.576171875,
                        "y": 5515.25732421875,
                        "z": 365.9541015625
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.546694755554199,
                "transform": {
                    "location": {
                        "x": 214.73272705078125,
                        "y": 5559.53173828125,
                        "z": 365.5809020996094
                    },
                    "rotation": {
                        "roll": -0.001495336415246129,
                        "pitch": -0.5074762105941772,
                        "yaw": 88.2738037109375
                    }
                },
                "velocity": {
                    "x": 0.19636434316635132,
                    "y": 6.543540954589844,
                    "z": -0.05219566076993942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003226177650503814,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.66241455078125
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7843857407569885,
                        "yaw": 0.27380144596099854
                    }
                },
                "velocity": {
                    "x": 3.54166331817396e-05,
                    "y": -3.637679401435889e-05,
                    "z": 0.00031859788578003645
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00037453268305398524,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.02907613129355e-05,
                    "y": 4.267894837539643e-06,
                    "z": -0.00037395828985609114
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.167239916976541e-05,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290588378906
                    },
                    "rotation": {
                        "roll": 0.00863645039498806,
                        "pitch": -0.6336639523506165,
                        "yaw": 179.0645294189453
                    }
                },
                "velocity": {
                    "x": -1.4491527508653235e-05,
                    "y": 2.029520874202717e-05,
                    "z": -5.640553717967123e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.7215576171875,
                "transform": {
                    "location": {
                        "x": 215.42523193359375,
                        "y": 5587.8671875,
                        "z": 365.35552978515625
                    },
                    "rotation": {
                        "roll": -0.009460452944040298,
                        "pitch": -0.37289416790008545,
                        "yaw": 89.65432739257812
                    }
                },
                "velocity": {
                    "x": 0.06783871352672577,
                    "y": 10.721086502075195,
                    "z": -0.07412365823984146
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.633776476723142e-06,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 7.2624534368515015e-06,
                    "y": 2.0951531496393727e-06,
                    "z": 1.0684769904401037e-06
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001275588758289814,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.43902403116226196,
                        "yaw": 179.9832000732422
                    }
                },
                "velocity": {
                    "x": -2.9252394597278908e-05,
                    "y": -1.1355187780281994e-05,
                    "z": 0.0012752027250826359
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002695572329685092,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00018310542509425431,
                        "pitch": 0.037811923772096634,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": -1.3329926105143386e-06,
                    "y": -1.6808870668683085e-06,
                    "z": 0.0002695486764423549
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012709969887509942,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.03698547184467316,
                        "yaw": -0.20184326171875
                    }
                },
                "velocity": {
                    "x": -6.8944086706324015e-06,
                    "y": 1.3668597603100352e-05,
                    "z": 0.0012709047878161073
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00034463568590581417,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -6.806682449678192e-06,
                    "y": 2.284895117554697e-06,
                    "z": -0.00034456088906154037
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3206357955932617,
                "transform": {
                    "location": {
                        "x": 217.2664031982422,
                        "y": 5614.1171875,
                        "z": 365.18206787109375
                    },
                    "rotation": {
                        "roll": 0.003565615275874734,
                        "pitch": 0.3593772053718567,
                        "yaw": -84.37718200683594
                    }
                },
                "velocity": {
                    "x": 0.12608122825622559,
                    "y": -1.314570426940918,
                    "z": 0.00932823121547699
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5348395109176636,
                "transform": {
                    "location": {
                        "x": 217.94992065429688,
                        "y": 5603.90966796875,
                        "z": 365.2542419433594
                    },
                    "rotation": {
                        "roll": 0.004180929623544216,
                        "pitch": 0.324420303106308,
                        "yaw": -86.7704086303711
                    }
                },
                "velocity": {
                    "x": 0.08285794407129288,
                    "y": -1.5325688123703003,
                    "z": 0.009972763247787952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9982702732086182,
        "expert_target_speed": 10.0,
        "target_point": [
            7.280544079662527,
            -9.039371999183995
        ],
        "target_point_next": [
            11.707120482734211,
            -59.84689976835527
        ]
    },
    "540": {
        "acceleration": [
            -2.115156650543213,
            -2.3694419860839844,
            0.021388232707977295
        ],
        "angular_velocity": [
            -0.23010289669036865,
            0.5280778408050537,
            -21.070533752441406
        ],
        "forward_vector": [
            -0.16211584210395813,
            -0.9867101311683655,
            0.011023893021047115
        ],
        "right_vector": [
            0.9867365956306458,
            -0.162194162607193,
            -0.006621502339839935
        ],
        "location": [
            218.1659393310547,
            5586.04345703125,
            365.3703308105469
        ],
        "rotation": [
            0.3794099688529968,
            0.6316353678703308,
            -99.3302993774414
        ],
        "velocity": [
            -0.9626535773277283,
            -2.5686376094818115,
            0.01778559572994709
        ],
        "speed": 2.743100632274782,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.169166564941406,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -6.795711669838056e-06,
                2.1257737898849882e-06,
                -0.00029850919963791966
            ],
            "speed_kmh": 0.0010749387981284825,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.733255386352539,
                "transform": {
                    "location": {
                        "x": 214.32460021972656,
                        "y": 5518.95849609375,
                        "z": 365.9223327636719
                    },
                    "rotation": {
                        "roll": 0.11794567108154297,
                        "pitch": -0.5712223649024963,
                        "yaw": 93.2970199584961
                    }
                },
                "velocity": {
                    "x": -0.8486783504486084,
                    "y": 14.708324432373047,
                    "z": -0.11727263033390045
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.986614227294922,
                "transform": {
                    "location": {
                        "x": 214.77960205078125,
                        "y": 5561.0947265625,
                        "z": 365.5685729980469
                    },
                    "rotation": {
                        "roll": -0.001312248525209725,
                        "pitch": -0.5095184445381165,
                        "yaw": 88.27898406982422
                    }
                },
                "velocity": {
                    "x": 0.17968395352363586,
                    "y": 5.983732223510742,
                    "z": -0.04701793193817139
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001071170554496348,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 4.378706216812134e-05,
                    "y": 2.018782470258884e-05,
                    "z": 0.00107008486520499
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.7131874958286062e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.272732490382623e-05,
                    "y": -3.0374329185178794e-07,
                    "z": -1.4816038856224623e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.544644591282122e-05,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008725238963961601,
                        "pitch": -0.6335068345069885,
                        "yaw": 179.0644989013672
                    }
                },
                "velocity": {
                    "x": -1.9708946638274938e-05,
                    "y": 1.5823943613213487e-05,
                    "z": 4.935046672471799e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.404563903808594,
                "transform": {
                    "location": {
                        "x": 215.4395294189453,
                        "y": 5590.63671875,
                        "z": 365.3361511230469
                    },
                    "rotation": {
                        "roll": -0.00942996796220541,
                        "pitch": -0.38400688767433167,
                        "yaw": 89.92926788330078
                    }
                },
                "velocity": {
                    "x": 0.009802273474633694,
                    "y": 11.404275894165039,
                    "z": -0.08039700239896774
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00026802034699358046,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": -4.830882062378805e-06,
                    "y": -3.67163447663188e-05,
                    "z": 0.0002654495765455067
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008441305835731328,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.43902403116226196,
                        "yaw": 179.9832000732422
                    }
                },
                "velocity": {
                    "x": -1.8407477909931913e-05,
                    "y": 1.1536830868408288e-07,
                    "z": 0.0008439298253506422
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00010716780525399372,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00018310542509425431,
                        "pitch": 0.037811923772096634,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": -1.927046014316147e-06,
                    "y": -1.6377890688090702e-06,
                    "z": 0.00010713795927586034
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00032274384284392,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.03698547184467316,
                        "yaw": -0.20184326171875
                    }
                },
                "velocity": {
                    "x": -1.665363015490584e-06,
                    "y": -3.152931094518863e-05,
                    "z": 0.0003211957518942654
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00029859409551136196,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -6.795711669838056e-06,
                    "y": 2.1257737898849882e-06,
                    "z": -0.00029850919963791966
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4394693970680237,
                "transform": {
                    "location": {
                        "x": 217.27186584472656,
                        "y": 5614.06103515625,
                        "z": 365.1817626953125
                    },
                    "rotation": {
                        "roll": 0.0037286807782948017,
                        "pitch": 0.45536184310913086,
                        "yaw": -84.38760375976562
                    }
                },
                "velocity": {
                    "x": 0.04006166383624077,
                    "y": -0.437627911567688,
                    "z": 0.0031987379770725965
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.47480636835098267,
                "transform": {
                    "location": {
                        "x": 217.95828247070312,
                        "y": 5603.7373046875,
                        "z": 365.25421142578125
                    },
                    "rotation": {
                        "roll": 0.0038218654226511717,
                        "pitch": 0.4809887111186981,
                        "yaw": -86.79356384277344
                    }
                },
                "velocity": {
                    "x": 0.016381120309233665,
                    "y": -0.47451505064964294,
                    "z": 0.0028683471027761698
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0000554323196411,
        "expert_target_speed": 10.0,
        "target_point": [
            7.329350909211044,
            -8.405548485893988
        ],
        "target_point_next": [
            15.476800201852587,
            -58.750543536953195
        ]
    },
    "545": {
        "acceleration": [
            -3.610210418701172,
            -2.5560426712036133,
            0.04173964262008667
        ],
        "angular_velocity": [
            -0.1513543576002121,
            0.7322021722793579,
            -32.19783020019531
        ],
        "forward_vector": [
            -0.2779504358768463,
            -0.9605154395103455,
            0.012398162856698036
        ],
        "right_vector": [
            0.9604901671409607,
            -0.27808788418769836,
            -0.011215523816645145
        ],
        "location": [
            217.84335327148438,
            5585.31787109375,
            365.3752136230469
        ],
        "rotation": [
            0.6426650285720825,
            0.7103806138038635,
            -106.13919067382812
        ],
        "velocity": [
            -1.7943799495697021,
            -3.1890642642974854,
            0.02381923608481884
        ],
        "speed": 3.659225366827934,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.173291206359863,
        "front_vehicle_info": {
            "id": 5100,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                230.978271484375,
                5579.994140625,
                365.49359130859375
            ],
            "velocity": [
                -3.739073690667283e-07,
                -1.0266559911542572e-05,
                -6.875672988826409e-05
            ],
            "speed_kmh": 0.0002502719887128616,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.390212059020996,
                "transform": {
                    "location": {
                        "x": 214.14178466796875,
                        "y": 5522.603515625,
                        "z": 365.8928527832031
                    },
                    "rotation": {
                        "roll": 0.20919084548950195,
                        "pitch": -0.5785238146781921,
                        "yaw": 92.10624694824219
                    }
                },
                "velocity": {
                    "x": -0.5700315237045288,
                    "y": 14.378410339355469,
                    "z": -0.1207897812128067
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.907862663269043,
                "transform": {
                    "location": {
                        "x": 214.82437133789062,
                        "y": 5562.580078125,
                        "z": 365.55694580078125
                    },
                    "rotation": {
                        "roll": -0.001007117796689272,
                        "pitch": -0.5006118416786194,
                        "yaw": 88.28025817871094
                    }
                },
                "velocity": {
                    "x": 0.17710550129413605,
                    "y": 5.905023574829102,
                    "z": -0.04659377411007881
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003997420717496425,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 4.9816069804364815e-05,
                    "y": 1.4829784049652517e-05,
                    "z": 0.0003963485360145569
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003630764549598098,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.796962871798314e-05,
                    "y": -4.493427240959136e-06,
                    "z": 0.0003619696362875402
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005565249011851847,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008725238963961601,
                        "pitch": -0.6335068345069885,
                        "yaw": 179.0644989013672
                    }
                },
                "velocity": {
                    "x": -2.7832686100737192e-05,
                    "y": -7.148679287638515e-06,
                    "z": 0.0005557825206778944
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.050561904907227,
                "transform": {
                    "location": {
                        "x": 215.43475341796875,
                        "y": 5593.57177734375,
                        "z": 365.31536865234375
                    },
                    "rotation": {
                        "roll": -0.009277353063225746,
                        "pitch": -0.38479235768318176,
                        "yaw": 90.4027099609375
                    }
                },
                "velocity": {
                    "x": -0.0746440663933754,
                    "y": 12.050027847290039,
                    "z": -0.08541147410869598
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00011399819049984217,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 2.092719114443753e-06,
                    "y": 9.222077096637804e-06,
                    "z": 0.00011360528878867626
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008943471475504339,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.43902403116226196,
                        "yaw": 179.9832000732422
                    }
                },
                "velocity": {
                    "x": -1.4648213436885271e-05,
                    "y": 1.1418235771998297e-05,
                    "z": 0.0008941543055698276
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003181813226547092,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00018310542509425431,
                        "pitch": 0.037811923772096634,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": 1.297802668887016e-06,
                    "y": -2.702337724258541e-06,
                    "z": 0.0003181672072969377
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00041254822281189263,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.03698547184467316,
                        "yaw": -0.20184326171875
                    }
                },
                "velocity": {
                    "x": -1.2187724678369705e-05,
                    "y": -5.0102615205105394e-05,
                    "z": -0.0004093131283298135
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.951999966986477e-05,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -3.739073690667283e-07,
                    "y": -1.0266559911542572e-05,
                    "z": -6.875672988826409e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2247213125228882,
                "transform": {
                    "location": {
                        "x": 217.29171752929688,
                        "y": 5613.84228515625,
                        "z": 365.1842346191406
                    },
                    "rotation": {
                        "roll": -0.0008239990565925837,
                        "pitch": 0.3362501859664917,
                        "yaw": -84.40178680419922
                    }
                },
                "velocity": {
                    "x": 0.08639165014028549,
                    "y": -1.2216483354568481,
                    "z": 0.00735551817342639
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3380993604660034,
                "transform": {
                    "location": {
                        "x": 217.96702575683594,
                        "y": 5603.50634765625,
                        "z": 365.25689697265625
                    },
                    "rotation": {
                        "roll": 0.0004006136441603303,
                        "pitch": 0.3403414785861969,
                        "yaw": -86.9039306640625
                    }
                },
                "velocity": {
                    "x": 0.04420609399676323,
                    "y": -1.3373398780822754,
                    "z": 0.008824748918414116
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0001509189605713,
        "expert_target_speed": 10.0,
        "target_point": [
            7.487541940047221,
            -7.36913291598296
        ],
        "target_point_next": [
            21.54632255341527,
            -56.393108115190635
        ]
    },
    "550": {
        "acceleration": [
            -4.027280807495117,
            -1.445169448852539,
            0.001954473555088043
        ],
        "angular_velocity": [
            0.2178352028131485,
            0.5118916630744934,
            -36.218082427978516
        ],
        "forward_vector": [
            -0.41781532764434814,
            -0.9084334969520569,
            0.013376074843108654
        ],
        "right_vector": [
            0.908376157283783,
            -0.41797104477882385,
            -0.012366855517029762
        ],
        "location": [
            217.30859375,
            5584.4326171875,
            365.38189697265625
        ],
        "rotation": [
            0.7086501121520996,
            0.7664154767990112,
            -114.69908905029297
        ],
        "velocity": [
            -2.7069411277770996,
            -3.7314274311065674,
            0.02971581369638443
        ],
        "speed": 4.609889471870851,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0429184584088214,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 101.58805084228516,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.696893692016602,
                "transform": {
                    "location": {
                        "x": 214.0300750732422,
                        "y": 5526.111328125,
                        "z": 365.8630065917969
                    },
                    "rotation": {
                        "roll": 0.2012762725353241,
                        "pitch": -0.6466344594955444,
                        "yaw": 90.91714477539062
                    }
                },
                "velocity": {
                    "x": -0.2718214988708496,
                    "y": 13.693653106689453,
                    "z": -0.12206045538187027
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.374444484710693,
                "transform": {
                    "location": {
                        "x": 214.86671447753906,
                        "y": 5563.9873046875,
                        "z": 365.5459289550781
                    },
                    "rotation": {
                        "roll": -0.00015259126666933298,
                        "pitch": -0.5044572353363037,
                        "yaw": 88.27938079833984
                    }
                },
                "velocity": {
                    "x": 0.16135546565055847,
                    "y": 5.371854782104492,
                    "z": -0.04234461858868599
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005421333480626345,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 3.1216739444062114e-05,
                    "y": 2.5367294256284367e-06,
                    "z": 0.0005412279278971255
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.732964826980606e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.0538418539217673e-05,
                    "y": 5.1958049880340695e-06,
                    "z": -9.499598672846332e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002367049892200157,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008725238963961601,
                        "pitch": -0.6335068345069885,
                        "yaw": 179.0644989013672
                    }
                },
                "velocity": {
                    "x": -2.3845210307626985e-05,
                    "y": 2.1977532014716417e-05,
                    "z": 0.0002344731183256954
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.715617179870605,
                "transform": {
                    "location": {
                        "x": 215.40257263183594,
                        "y": 5596.6708984375,
                        "z": 365.2933044433594
                    },
                    "rotation": {
                        "roll": -0.016754139214754105,
                        "pitch": -0.3854685425758362,
                        "yaw": 91.0906753540039
                    }
                },
                "velocity": {
                    "x": -0.23298129439353943,
                    "y": 12.713170051574707,
                    "z": -0.08919943869113922
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00040125110535882413,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": -6.772391429876734e-07,
                    "y": 2.0142576886428287e-06,
                    "z": 0.000401245488319546
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007832386181689799,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.43902403116226196,
                        "yaw": 179.9832000732422
                    }
                },
                "velocity": {
                    "x": -1.6895979570108466e-05,
                    "y": -7.498536433558911e-06,
                    "z": 0.0007830204558558762
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002882661938201636,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.037566039711236954,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": 2.578979365353007e-05,
                    "y": 4.1527739085722715e-05,
                    "z": -0.0002840910747181624
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002397312637185678,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.03698547184467316,
                        "yaw": -0.20184326171875
                    }
                },
                "velocity": {
                    "x": 4.107374479644932e-06,
                    "y": 5.737895844504237e-05,
                    "z": 0.00023272701946552843
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000182924690307118,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.711118898128916e-06,
                    "y": -1.747510214045178e-05,
                    "z": -0.00018208002438768744
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.129084825515747,
                "transform": {
                    "location": {
                        "x": 217.32537841796875,
                        "y": 5613.41943359375,
                        "z": 365.1874084472656
                    },
                    "rotation": {
                        "roll": -0.0013427926460281014,
                        "pitch": 0.31495365500450134,
                        "yaw": -84.64102935791016
                    }
                },
                "velocity": {
                    "x": 0.15951776504516602,
                    "y": -2.1230509281158447,
                    "z": 0.014517993666231632
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1816606521606445,
                "transform": {
                    "location": {
                        "x": 217.98358154296875,
                        "y": 5603.06298828125,
                        "z": 365.26031494140625
                    },
                    "rotation": {
                        "roll": 0.0009036262636072934,
                        "pitch": 0.3148922026157379,
                        "yaw": -87.13228607177734
                    }
                },
                "velocity": {
                    "x": 0.07237069308757782,
                    "y": -2.180408000946045,
                    "z": 0.015073403716087341
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0003089904785156,
        "expert_target_speed": 10.0,
        "target_point": [
            7.473267992988751,
            -6.056642032783557
        ],
        "target_point_next": [
            28.67235210278181,
            -52.44196610811217
        ]
    },
    "555": {
        "acceleration": [
            -3.070344924926758,
            1.4420795440673828,
            -0.00797230750322342
        ],
        "angular_velocity": [
            0.7986889481544495,
            -0.1222931295633316,
            -38.80952453613281
        ],
        "forward_vector": [
            -0.5621806979179382,
            -0.8269350528717041,
            0.01145862229168415
        ],
        "right_vector": [
            0.8268043994903564,
            -0.5622962117195129,
            -0.014748550951480865
        ],
        "location": [
            216.54116821289062,
            5583.48779296875,
            365.3896789550781
        ],
        "rotation": [
            0.8451157808303833,
            0.6565450429916382,
            -124.20930480957031
        ],
        "velocity": [
            -3.5865626335144043,
            -3.601341485977173,
            0.028863906860351562
        ],
        "speed": 5.082626488612167,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.498793601989746,
        "front_vehicle_info": {
            "id": 5102,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                203.042724609375,
                5583.5615234375,
                365.45318603515625
            ],
            "velocity": [
                2.0283068806747906e-05,
                -4.673746298067272e-05,
                -0.0004018442996311933
            ],
            "speed_kmh": 0.0014582205809682447,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 215.10076904296875,
                        "y": 5509.27783203125,
                        "z": 366.1931457519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5155016779899597,
                        "yaw": 95.91863250732422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.004522323608398,
                "transform": {
                    "location": {
                        "x": 213.98147583007812,
                        "y": 5529.44482421875,
                        "z": 365.8338317871094
                    },
                    "rotation": {
                        "roll": 0.149163618683815,
                        "pitch": -0.6631498336791992,
                        "yaw": 90.08606719970703
                    }
                },
                "velocity": {
                    "x": -0.046579234302043915,
                    "y": 13.003951072692871,
                    "z": -0.11270083487033844
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.334842681884766,
                "transform": {
                    "location": {
                        "x": 214.90687561035156,
                        "y": 5565.32421875,
                        "z": 365.5353698730469
                    },
                    "rotation": {
                        "roll": 0.0006090303068049252,
                        "pitch": -0.49673232436180115,
                        "yaw": 88.27774810791016
                    }
                },
                "velocity": {
                    "x": 0.1595066487789154,
                    "y": 5.3322906494140625,
                    "z": -0.042225975543260574
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011750937846954912,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 4.873230864177458e-05,
                    "y": -2.0057577785337344e-05,
                    "z": 0.00010503004887141287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.3788677935954183e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.371996561123524e-05,
                    "y": -6.253650326470961e-07,
                    "z": -1.695094397291541e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004839209432248026,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008725238963961601,
                        "pitch": -0.6335068345069885,
                        "yaw": 179.0644989013672
                    }
                },
                "velocity": {
                    "x": -2.7540996597963385e-05,
                    "y": 5.238594440015731e-06,
                    "z": 0.00048310818965546787
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.361597061157227,
                "transform": {
                    "location": {
                        "x": 215.33311462402344,
                        "y": 5599.93310546875,
                        "z": 365.2701721191406
                    },
                    "rotation": {
                        "roll": -0.01727292127907276,
                        "pitch": -0.38421177864074707,
                        "yaw": 91.84860229492188
                    }
                },
                "velocity": {
                    "x": -0.40086543560028076,
                    "y": 13.355253219604492,
                    "z": -0.09384053945541382
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00011402145173633471,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 1.8071010345011018e-05,
                    "y": 3.537257725838572e-05,
                    "z": 0.00010687895701266825
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010245185112580657,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.43902403116226196,
                        "yaw": 179.9832000732422
                    }
                },
                "velocity": {
                    "x": -2.310126910742838e-05,
                    "y": 2.378437238803599e-05,
                    "z": 0.0010239818366244435
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004050612624268979,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.037566039711236954,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": 2.0283068806747906e-05,
                    "y": -4.673746298067272e-05,
                    "z": -0.0004018442996311933
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003225913969799876,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.03698547184467316,
                        "yaw": -0.20184326171875
                    }
                },
                "velocity": {
                    "x": -1.837036143115256e-05,
                    "y": -1.5794821592862718e-05,
                    "z": 0.00032168038887903094
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00019642322149593383,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -4.642884960048832e-06,
                    "y": -7.378258032986196e-06,
                    "z": -0.00019622966647148132
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8318722248077393,
                "transform": {
                    "location": {
                        "x": 217.3671875,
                        "y": 5612.888671875,
                        "z": 365.1903381347656
                    },
                    "rotation": {
                        "roll": 0.0029767551459372044,
                        "pitch": 0.40280354022979736,
                        "yaw": -84.87847137451172
                    }
                },
                "velocity": {
                    "x": 0.13706807792186737,
                    "y": -1.8266929388046265,
                    "z": 0.012700623832643032
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.962278127670288,
                "transform": {
                    "location": {
                        "x": 218.00741577148438,
                        "y": 5602.40625,
                        "z": 365.26483154296875
                    },
                    "rotation": {
                        "roll": 0.001072836690582335,
                        "pitch": 0.32074567675590515,
                        "yaw": -87.40306091308594
                    }
                },
                "velocity": {
                    "x": 0.09696126729249954,
                    "y": -2.9606235027313232,
                    "z": 0.019963359460234642
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9990538954734802,
        "expert_target_speed": 10.0,
        "target_point": [
            7.158434211584561,
            -4.635188823974758
        ],
        "target_point_next": [
            35.730087136054486,
            -46.88042649440301
        ]
    },
    "560": {
        "acceleration": [
            -0.8428382873535156,
            2.9851150512695312,
            0.00588342547416687
        ],
        "angular_velocity": [
            0.2652001678943634,
            -0.8598567247390747,
            -37.14641571044922
        ],
        "forward_vector": [
            -0.690777599811554,
            -0.7230253219604492,
            0.007789293769747019
        ],
        "right_vector": [
            0.7229012250900269,
            -0.6908097863197327,
            -0.013992080464959145
        ],
        "location": [
            215.60256958007812,
            5582.63623046875,
            365.3978576660156
        ],
        "rotation": [
            0.8017376661300659,
            0.44629818201065063,
            -133.693359375
        ],
        "velocity": [
            -4.077885627746582,
            -3.0349297523498535,
            0.030058545991778374
        ],
        "speed": 5.083301072598442,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.593928337097168,
        "front_vehicle_info": {
            "id": 5102,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                203.0428009033203,
                5583.5615234375,
                365.45318603515625
            ],
            "velocity": [
                -2.4833823772496544e-05,
                -1.2816712114727125e-05,
                -0.00024161800683941692
            ],
            "speed_kmh": 0.0008756236725418943,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.93264770507812,
                        "y": 5511.095703125,
                        "z": 366.0233459472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.274642944335938,
                "transform": {
                    "location": {
                        "x": 213.98780822753906,
                        "y": 5532.6005859375,
                        "z": 365.8067932128906
                    },
                    "rotation": {
                        "roll": 0.13603100180625916,
                        "pitch": -0.6488269567489624,
                        "yaw": 89.2587890625
                    }
                },
                "velocity": {
                    "x": 0.12537498772144318,
                    "y": 12.2735595703125,
                    "z": -0.10429643094539642
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.878201484680176,
                "transform": {
                    "location": {
                        "x": 214.94468688964844,
                        "y": 5566.58935546875,
                        "z": 365.5251770019531
                    },
                    "rotation": {
                        "roll": -0.0001830881810747087,
                        "pitch": -0.5047236084938049,
                        "yaw": 88.27787780761719
                    }
                },
                "velocity": {
                    "x": 0.145683154463768,
                    "y": 4.875857353210449,
                    "z": -0.040504440665245056
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.0147169784177095e-05,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 3.352239582454786e-05,
                    "y": -1.4003793467054493e-06,
                    "z": 2.204729571531061e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.721251702401787e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.262361340399366e-05,
                    "y": -7.623345027241157e-06,
                    "z": -6.282976391958073e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00016443096683360636,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.009285899810492992,
                        "pitch": -0.6332677602767944,
                        "yaw": 179.06431579589844
                    }
                },
                "velocity": {
                    "x": -2.516679342079442e-05,
                    "y": 3.858399850287242e-06,
                    "z": 0.00016244780272245407
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.010245323181152,
                "transform": {
                    "location": {
                        "x": 215.21405029296875,
                        "y": 5603.35546875,
                        "z": 365.2458801269531
                    },
                    "rotation": {
                        "roll": -0.02258300967514515,
                        "pitch": -0.3857417404651642,
                        "yaw": 92.7711181640625
                    }
                },
                "velocity": {
                    "x": -0.6039270758628845,
                    "y": 13.996867179870605,
                    "z": -0.0997595489025116
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015588137321174145,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.43902403116226196,
                        "yaw": 179.9832000732422
                    }
                },
                "velocity": {
                    "x": -1.4699697203468531e-05,
                    "y": -4.576565697789192e-05,
                    "z": 0.0015580723993480206
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002432287874398753,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": 0.03801682963967323,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": -2.4833823772496544e-05,
                    "y": -1.2816712114727125e-05,
                    "z": -0.00024161800683941692
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007016440504230559,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.03698547184467316,
                        "yaw": -0.20184326171875
                    }
                },
                "velocity": {
                    "x": -1.0722726074163802e-05,
                    "y": -3.5212528018746525e-05,
                    "z": 0.0007006778614595532
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003379978006705642,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.3914331020714599e-06,
                    "y": -1.8638682377059013e-05,
                    "z": -0.000337480625603348
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8828239440917969,
                "transform": {
                    "location": {
                        "x": 217.37890625,
                        "y": 5612.7421875,
                        "z": 365.19097900390625
                    },
                    "rotation": {
                        "roll": 0.004817838314920664,
                        "pitch": 0.4575953185558319,
                        "yaw": -84.95415496826172
                    }
                },
                "velocity": {
                    "x": 0.06689130514860153,
                    "y": -0.8802670240402222,
                    "z": 0.005795945879071951
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9156389236450195,
                "transform": {
                    "location": {
                        "x": 218.03468322753906,
                        "y": 5601.63134765625,
                        "z": 365.2696533203125
                    },
                    "rotation": {
                        "roll": 0.002719384152442217,
                        "pitch": 0.38660916686058044,
                        "yaw": -87.62932586669922
                    }
                },
                "velocity": {
                    "x": 0.09541157633066177,
                    "y": -2.9140007495880127,
                    "z": 0.021109838038682938
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.8750868439674377,
        "expert_target_speed": 10.0,
        "target_point": [
            41.70225457506661,
            -40.261876927507785
        ],
        "target_point_next": [
            42.39128801834472,
            -40.98661058514265
        ]
    },
    "565": {
        "acceleration": [
            -1.9916439056396484,
            2.8877878189086914,
            -0.10018598288297653
        ],
        "angular_velocity": [
            -0.004550256300717592,
            -0.05767384171485901,
            -35.143836975097656
        ],
        "forward_vector": [
            -0.7965831160545349,
            -0.6044941544532776,
            0.006499482784420252
        ],
        "right_vector": [
            0.6043826937675476,
            -0.7965807318687439,
            -0.013443154282867908
        ],
        "location": [
            214.54725646972656,
            5581.93505859375,
            365.4058837890625
        ],
        "rotation": [
            0.7702754735946655,
            0.3723955452442169,
            -142.806640625
        ],
        "velocity": [
            -4.479062557220459,
            -2.373159646987915,
            0.028520850464701653
        ],
        "speed": 5.068913897629953,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.1408067625111844,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 98.75839233398438,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.257983207702637,
                "transform": {
                    "location": {
                        "x": 214.6591339111328,
                        "y": 5513.96435546875,
                        "z": 365.95758056640625
                    },
                    "rotation": {
                        "roll": 0.05535826459527016,
                        "pitch": -0.8476264476776123,
                        "yaw": 94.79229736328125
                    }
                },
                "velocity": {
                    "x": -0.8751715421676636,
                    "y": 10.219303131103516,
                    "z": -0.16169650852680206
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.640571594238281,
                "transform": {
                    "location": {
                        "x": 214.03147888183594,
                        "y": 5535.58544921875,
                        "z": 365.7815856933594
                    },
                    "rotation": {
                        "roll": 0.09740522503852844,
                        "pitch": -0.6327828168869019,
                        "yaw": 88.66231536865234
                    }
                },
                "velocity": {
                    "x": 0.2502356171607971,
                    "y": 11.637471199035645,
                    "z": -0.0977461189031601
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.619331359863281,
                "transform": {
                    "location": {
                        "x": 214.980224609375,
                        "y": 5567.7724609375,
                        "z": 365.5158996582031
                    },
                    "rotation": {
                        "roll": -0.0013427432859316468,
                        "pitch": -0.4989930987358093,
                        "yaw": 88.28182220458984
                    }
                },
                "velocity": {
                    "x": 0.13769946992397308,
                    "y": 4.617132663726807,
                    "z": -0.036694373935461044
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021714381000492722,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 3.4872144169639796e-05,
                    "y": -6.144494818727253e-06,
                    "z": 0.00021423728321678936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.8892081395024434e-05,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.009285899810492992,
                        "pitch": -0.6332677602767944,
                        "yaw": 179.06431579589844
                    }
                },
                "velocity": {
                    "x": -2.0409375792951323e-05,
                    "y": -1.278096442547394e-05,
                    "z": 4.255044041201472e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.463247299194336,
                "transform": {
                    "location": {
                        "x": 215.0390625,
                        "y": 5606.92236328125,
                        "z": 365.2205810546875
                    },
                    "rotation": {
                        "roll": -0.026550307869911194,
                        "pitch": -0.39029064774513245,
                        "yaw": 93.73107147216797
                    }
                },
                "velocity": {
                    "x": -0.8552528023719788,
                    "y": 14.437569618225098,
                    "z": -0.10315106809139252
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00011337283649481833,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 2.85376409010496e-05,
                    "y": 3.8629088521702215e-05,
                    "z": 0.0001026976024149917
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009439780260436237,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": -0.43841615319252014,
                        "yaw": 179.98301696777344
                    }
                },
                "velocity": {
                    "x": -3.2056868803920224e-05,
                    "y": 2.4859518816811033e-05,
                    "z": 0.0009431059588678181
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004716940748039633,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.03827637806534767,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": -1.3184630915930029e-05,
                    "y": 5.579950084211305e-05,
                    "z": 0.0004681964055635035
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00037942102062515914,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.03698547184467316,
                        "yaw": -0.20184326171875
                    }
                },
                "velocity": {
                    "x": -1.1098947652499191e-05,
                    "y": -2.67178602371132e-05,
                    "z": 0.0003783163847401738
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00026704600895754993,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -5.239099209575215e-06,
                    "y": 2.647469273142633e-06,
                    "z": -0.00026698148576542735
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6675440073013306,
                "transform": {
                    "location": {
                        "x": 217.40367126464844,
                        "y": 5612.41943359375,
                        "z": 365.1943359375
                    },
                    "rotation": {
                        "roll": 0.0019117379561066628,
                        "pitch": 0.3314827084541321,
                        "yaw": -85.02877807617188
                    }
                },
                "velocity": {
                    "x": 0.12510569393634796,
                    "y": -1.6628015041351318,
                    "z": 0.011946773156523705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.886171340942383,
                "transform": {
                    "location": {
                        "x": 218.058349609375,
                        "y": 5600.9404296875,
                        "z": 365.2744140625
                    },
                    "rotation": {
                        "roll": 0.0034574184101074934,
                        "pitch": 0.41048750281333923,
                        "yaw": -87.77226257324219
                    }
                },
                "velocity": {
                    "x": 0.09420671314001083,
                    "y": -2.8845529556274414,
                    "z": 0.02157328650355339
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5982547998428345,
        "expert_target_speed": 10.0,
        "target_point": [
            46.288263091214425,
            -33.06919966011137
        ],
        "target_point_next": [
            47.083386948946035,
            -33.67565164611725
        ]
    },
    "570": {
        "acceleration": [
            -1.0599327087402344,
            2.3355627059936523,
            -0.013178475201129913
        ],
        "angular_velocity": [
            -0.4319561719894409,
            0.03564760833978653,
            -33.5254020690918
        ],
        "forward_vector": [
            -0.8790662288665771,
            -0.4766501784324646,
            0.006873433943837881
        ],
        "right_vector": [
            0.4765544533729553,
            -0.879062831401825,
            -0.012012435123324394
        ],
        "location": [
            213.40069580078125,
            5581.4052734375,
            365.4134826660156
        ],
        "rotation": [
            0.6882945895195007,
            0.3938218653202057,
            -151.5324249267578
        ],
        "velocity": [
            -4.795079708099365,
            -1.6952602863311768,
            0.02938244678080082
        ],
        "speed": 5.085931266291156,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.1762868833653934,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 97.60504913330078,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.062566757202148,
                "transform": {
                    "location": {
                        "x": 214.4696807861328,
                        "y": 5516.49609375,
                        "z": 365.9404296875
                    },
                    "rotation": {
                        "roll": 0.18334120512008667,
                        "pitch": -0.7426737546920776,
                        "yaw": 93.71927642822266
                    }
                },
                "velocity": {
                    "x": -0.6324154138565063,
                    "y": 10.042634963989258,
                    "z": -0.027934879064559937
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.979719161987305,
                "transform": {
                    "location": {
                        "x": 214.09811401367188,
                        "y": 5538.40869140625,
                        "z": 365.75799560546875
                    },
                    "rotation": {
                        "roll": 0.05031237378716469,
                        "pitch": -0.6184667944908142,
                        "yaw": 88.3332290649414
                    }
                },
                "velocity": {
                    "x": 0.29838207364082336,
                    "y": 10.975285530090332,
                    "z": -0.09114407002925873
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.054858207702637,
                "transform": {
                    "location": {
                        "x": 215.0133514404297,
                        "y": 5568.87548828125,
                        "z": 365.5071716308594
                    },
                    "rotation": {
                        "roll": 0.0012833302607759833,
                        "pitch": -0.5316755771636963,
                        "yaw": 88.2806396484375
                    }
                },
                "velocity": {
                    "x": 0.12162958830595016,
                    "y": 4.052908420562744,
                    "z": -0.03183798864483833
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.514068809337914e-05,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 4.4527947466121987e-05,
                    "y": -9.128479177888948e-06,
                    "z": 4.6660923544550315e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00011909212480532005,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.3816524844733067e-05,
                    "y": 1.1157137123518623e-05,
                    "z": -0.00011615173571044579
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000398964446503669,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.009285899810492992,
                        "pitch": -0.6332677602767944,
                        "yaw": 179.06431579589844
                    }
                },
                "velocity": {
                    "x": -2.373717688897159e-05,
                    "y": -8.786375474301167e-06,
                    "z": 0.0003981607442256063
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.499682426452637,
                "transform": {
                    "location": {
                        "x": 214.8055419921875,
                        "y": 5610.54052734375,
                        "z": 365.1949157714844
                    },
                    "rotation": {
                        "roll": -0.029937738552689552,
                        "pitch": -0.4026464521884918,
                        "yaw": 94.66546630859375
                    }
                },
                "velocity": {
                    "x": -1.08726966381073,
                    "y": 14.45849323272705,
                    "z": -0.10305681079626083
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010119764192495495,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 2.811029389704345e-06,
                    "y": -2.1449885025504045e-05,
                    "z": 9.885829786071554e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010220647091045976,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": -0.43841615319252014,
                        "yaw": 179.98301696777344
                    }
                },
                "velocity": {
                    "x": -2.7831718398374505e-05,
                    "y": -2.6092347980011255e-05,
                    "z": 0.0010213524801656604
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00044365678331814706,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.03827637806534767,
                        "yaw": -1.78350830078125
                    }
                },
                "velocity": {
                    "x": -1.1093164175690617e-05,
                    "y": -1.9073114287948556e-07,
                    "z": 0.0004435180453583598
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005368204438127577,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.03698547184467316,
                        "yaw": -0.20184326171875
                    }
                },
                "velocity": {
                    "x": 1.0635363651090302e-05,
                    "y": 4.0776583773549646e-05,
                    "z": -0.0005351638537831604
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00028486258815973997,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -5.3364597079053055e-06,
                    "y": -1.6401346556449425e-06,
                    "z": -0.0002848078729584813
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.092045783996582,
                "transform": {
                    "location": {
                        "x": 217.4430389404297,
                        "y": 5611.91259765625,
                        "z": 365.19775390625
                    },
                    "rotation": {
                        "roll": 0.001539489021524787,
                        "pitch": 0.348148375749588,
                        "yaw": -85.17765045166016
                    }
                },
                "velocity": {
                    "x": 0.15601341426372528,
                    "y": -2.086169719696045,
                    "z": 0.014550886116921902
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.501479148864746,
                "transform": {
                    "location": {
                        "x": 218.08624267578125,
                        "y": 5600.12255859375,
                        "z": 365.28070068359375
                    },
                    "rotation": {
                        "roll": 0.0029808306135237217,
                        "pitch": 0.3435448408126831,
                        "yaw": -87.889404296875
                    }
                },
                "velocity": {
                    "x": 0.11428527534008026,
                    "y": -3.4995346069335938,
                    "z": 0.023516368120908737
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3214244842529297,
        "expert_target_speed": 10.0,
        "target_point": [
            49.50885191767038,
            -25.58343751940691
        ],
        "target_point_next": [
            50.38677521372266,
            -26.062245045155176
        ]
    },
    "575": {
        "acceleration": [
            0.27716636657714844,
            2.2400665283203125,
            -0.10318711400032043
        ],
        "angular_velocity": [
            0.4474707245826721,
            0.4132537543773651,
            -26.95037269592285
        ],
        "forward_vector": [
            -0.9314051866531372,
            -0.3638957738876343,
            0.008013042621314526
        ],
        "right_vector": [
            0.36380672454833984,
            -0.9314129948616028,
            -0.010703761130571365
        ],
        "location": [
            212.2049102783203,
            5581.01318359375,
            365.42291259765625
        ],
        "rotation": [
            0.6133117079734802,
            0.45911845564842224,
            -158.65963745117188
        ],
        "velocity": [
            -4.870949745178223,
            -1.2225744724273682,
            0.041806917637586594
        ],
        "speed": 5.0220354200944115,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.2072687296329474,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 96.40599822998047,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.267338752746582,
                "transform": {
                    "location": {
                        "x": 214.318359375,
                        "y": 5519.03662109375,
                        "z": 365.9253845214844
                    },
                    "rotation": {
                        "roll": 0.09717465192079544,
                        "pitch": -0.46664533019065857,
                        "yaw": 92.91847229003906
                    }
                },
                "velocity": {
                    "x": -0.49870768189430237,
                    "y": 10.254925727844238,
                    "z": -0.07762851566076279
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.422200202941895,
                "transform": {
                    "location": {
                        "x": 214.1736602783203,
                        "y": 5541.0791015625,
                        "z": 365.7358093261719
                    },
                    "rotation": {
                        "roll": 0.020794451236724854,
                        "pitch": -0.6076409220695496,
                        "yaw": 88.2348861694336
                    }
                },
                "velocity": {
                    "x": 0.3101569414138794,
                    "y": 10.417223930358887,
                    "z": -0.08662902563810349
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.24216890335083,
                "transform": {
                    "location": {
                        "x": 215.0399932861328,
                        "y": 5569.7705078125,
                        "z": 365.50030517578125
                    },
                    "rotation": {
                        "roll": 0.01298529002815485,
                        "pitch": -0.5722947120666504,
                        "yaw": 88.28968048095703
                    }
                },
                "velocity": {
                    "x": 0.09211085736751556,
                    "y": 3.2407643795013428,
                    "z": -0.02491178922355175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00030089716892689466,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 2.948209657915868e-05,
                    "y": -4.335796347731957e-06,
                    "z": 0.0002994179667439312
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.733485497534275e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.6500001695239916e-05,
                    "y": -7.381196951428137e-07,
                    "z": -6.189659325173125e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00023787887766957283,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.009285899810492992,
                        "pitch": -0.6332677602767944,
                        "yaw": 179.06431579589844
                    }
                },
                "velocity": {
                    "x": -1.3987421880301554e-05,
                    "y": -1.833983878896106e-05,
                    "z": -0.0002367580309510231
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.44886589050293,
                "transform": {
                    "location": {
                        "x": 214.51429748535156,
                        "y": 5614.14697265625,
                        "z": 365.16925048828125
                    },
                    "rotation": {
                        "roll": -0.0276489220559597,
                        "pitch": -0.40881413221359253,
                        "yaw": 95.5989990234375
                    }
                },
                "velocity": {
                    "x": -1.2941557168960571,
                    "y": 14.390422821044922,
                    "z": -0.10308753699064255
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003485647903289646,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 4.0056181660474977e-07,
                    "y": -2.634511020005448e-06,
                    "z": 0.00034855460398830473
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010989030124619603,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": -0.43841615319252014,
                        "yaw": 179.98301696777344
                    }
                },
                "velocity": {
                    "x": -2.1533220206038095e-05,
                    "y": 4.5954438974149525e-06,
                    "z": 0.0010986824054270983
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0001898502669064328,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 0.03783241659402847,
                        "yaw": -1.7834779024124146
                    }
                },
                "velocity": {
                    "x": -8.942046747506538e-07,
                    "y": -0.00011373341840226203,
                    "z": -0.00015200997586362064
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005192789831198752,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.03698547184467316,
                        "yaw": -0.20184326171875
                    }
                },
                "velocity": {
                    "x": -5.210843028180534e-06,
                    "y": 6.583245522051584e-06,
                    "z": 0.0005192111129872501
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00023052508186083287,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": 7.2937828008434735e-06,
                    "y": 9.887665328278672e-06,
                    "z": -0.00023019741638563573
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7686617374420166,
                "transform": {
                    "location": {
                        "x": 217.47789001464844,
                        "y": 5611.45947265625,
                        "z": 365.2003173828125
                    },
                    "rotation": {
                        "roll": 0.0034790080972015858,
                        "pitch": 0.42112213373184204,
                        "yaw": -85.28195190429688
                    }
                },
                "velocity": {
                    "x": 0.1321709156036377,
                    "y": -1.7636669874191284,
                    "z": 0.013195618987083435
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.262580156326294,
                "transform": {
                    "location": {
                        "x": 218.11444091796875,
                        "y": 5599.27490234375,
                        "z": 365.28607177734375
                    },
                    "rotation": {
                        "roll": 0.0033488906919956207,
                        "pitch": 0.4051804542541504,
                        "yaw": -87.97174072265625
                    }
                },
                "velocity": {
                    "x": 0.10630829632282257,
                    "y": -3.2607619762420654,
                    "z": 0.023654937744140625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.16699647903442383,
        "expert_target_speed": 10.0,
        "target_point": [
            51.044023444490946,
            -19.173125337898256
        ],
        "target_point_next": [
            51.974569985549145,
            -19.539307117058684
        ]
    },
    "580": {
        "acceleration": [
            0.4351615905761719,
            2.0639777183532715,
            0.13455450534820557
        ],
        "angular_velocity": [
            -0.4308958053588867,
            0.3567441999912262,
            -24.772520065307617
        ],
        "forward_vector": [
            -0.9668786525726318,
            -0.25506266951560974,
            0.009420255199074745
        ],
        "right_vector": [
            0.25493136048316956,
            -0.9668688178062439,
            -0.013213318772614002
        ],
        "location": [
            210.9785919189453,
            5580.75927734375,
            365.43353271484375
        ],
        "rotation": [
            0.7571229934692383,
            0.5397488474845886,
            -165.22203063964844
        ],
        "velocity": [
            -4.923818111419678,
            -0.6724690794944763,
            0.04769793525338173
        ],
        "speed": 4.969527085872517,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.2314012090623616,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 95.17835998535156,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.266555786132812,
                "transform": {
                    "location": {
                        "x": 214.20553588867188,
                        "y": 5521.55029296875,
                        "z": 365.9031066894531
                    },
                    "rotation": {
                        "roll": 0.08554873615503311,
                        "pitch": -0.5539488196372986,
                        "yaw": 92.16414642333984
                    }
                },
                "velocity": {
                    "x": -0.3558095395565033,
                    "y": 9.259272575378418,
                    "z": -0.0912749171257019
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.828360557556152,
                "transform": {
                    "location": {
                        "x": 214.2500762939453,
                        "y": 5543.60546875,
                        "z": 365.71490478515625
                    },
                    "rotation": {
                        "roll": 0.007188210263848305,
                        "pitch": -0.6023201942443848,
                        "yaw": 88.22235107421875
                    }
                },
                "velocity": {
                    "x": 0.3014504909515381,
                    "y": 9.823391914367676,
                    "z": -0.08229120820760727
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.209174394607544,
                "transform": {
                    "location": {
                        "x": 215.0634307861328,
                        "y": 5570.57666015625,
                        "z": 365.49444580078125
                    },
                    "rotation": {
                        "roll": 0.011963202618062496,
                        "pitch": -0.4646919071674347,
                        "yaw": 88.33406829833984
                    }
                },
                "velocity": {
                    "x": 0.09040527790784836,
                    "y": 3.207807779312134,
                    "z": -0.024431155994534492
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003837273980025202,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 5.47857562196441e-05,
                    "y": -2.531978680053726e-05,
                    "z": 0.00037895137211307883
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.8728637668536976e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.3913084078230895e-05,
                    "y": 8.510296538588591e-06,
                    "z": 5.296029121382162e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005407073767855763,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.009285899810492992,
                        "pitch": -0.6332677602767944,
                        "yaw": 179.06431579589844
                    }
                },
                "velocity": {
                    "x": -2.495557055226527e-05,
                    "y": -3.3048027034965344e-06,
                    "z": 0.0005401211092248559
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.434048652648926,
                "transform": {
                    "location": {
                        "x": 214.16531372070312,
                        "y": 5617.7392578125,
                        "z": 365.143310546875
                    },
                    "rotation": {
                        "roll": -0.03027341701090336,
                        "pitch": -0.41488614678382874,
                        "yaw": 96.5374755859375
                    }
                },
                "velocity": {
                    "x": -1.5371177196502686,
                    "y": 14.351594924926758,
                    "z": -0.1037159264087677
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00019112008158117533,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 3.1823849440115737e-06,
                    "y": 1.7658825527178124e-05,
                    "z": 0.00019027592497877777
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012097497237846255,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": -0.43841615319252014,
                        "yaw": 179.98301696777344
                    }
                },
                "velocity": {
                    "x": -3.8487312849611044e-05,
                    "y": -5.959486202300468e-07,
                    "z": 0.0012091371463611722
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.341593012213707e-06,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.037477247416973114,
                        "yaw": -1.783477783203125
                    }
                },
                "velocity": {
                    "x": -1.1856294577228255e-06,
                    "y": -4.0303134483110625e-06,
                    "z": -1.0955752713925904e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004180249816272408,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.03698547184467316,
                        "yaw": -0.20184326171875
                    }
                },
                "velocity": {
                    "x": 4.665735104936175e-06,
                    "y": -2.1192956410232e-05,
                    "z": 0.00041746135684661567
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00017543023568578064,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": 1.4629587212766637e-06,
                    "y": 2.0186358597129583e-05,
                    "z": -0.00017425883561372757
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.082117795944214,
                "transform": {
                    "location": {
                        "x": 217.51687622070312,
                        "y": 5610.94921875,
                        "z": 365.20428466796875
                    },
                    "rotation": {
                        "roll": 0.0034500674810260534,
                        "pitch": 0.37800315022468567,
                        "yaw": -85.37800598144531
                    }
                },
                "velocity": {
                    "x": 0.15520566701889038,
                    "y": -2.076282262802124,
                    "z": 0.013344640843570232
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2569897174835205,
                "transform": {
                    "location": {
                        "x": 218.13702392578125,
                        "y": 5598.49072265625,
                        "z": 365.2917175292969
                    },
                    "rotation": {
                        "roll": -0.00726316636428237,
                        "pitch": 0.4045657515525818,
                        "yaw": -88.14427947998047
                    }
                },
                "velocity": {
                    "x": 0.057134874165058136,
                    "y": -3.2564151287078857,
                    "z": 0.021863775327801704
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06235863268375397,
        "expert_target_speed": 10.0,
        "target_point": [
            51.650272693072694,
            -13.146613243679582
        ],
        "target_point_next": [
            52.616571525245085,
            -13.404047754588168
        ]
    },
    "585": {
        "acceleration": [
            1.1880016326904297,
            1.4333754777908325,
            -0.1610114872455597
        ],
        "angular_velocity": [
            0.11564076691865921,
            -1.1534416675567627,
            -18.272695541381836
        ],
        "forward_vector": [
            -0.9857173562049866,
            -0.1682082563638687,
            0.008196737617254257
        ],
        "right_vector": [
            0.16813814640045166,
            -0.9857258796691895,
            -0.008604259230196476
        ],
        "location": [
            209.78546142578125,
            5580.6142578125,
            365.4446716308594
        ],
        "rotation": [
            0.49301043152809143,
            0.469643771648407,
            -170.31600952148438
        ],
        "velocity": [
            -4.656290054321289,
            -0.3311026990413666,
            0.02291671745479107
        ],
        "speed": 4.668047350582879,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.2458810737596413,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 93.9847412109375,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.336676120758057,
                "transform": {
                    "location": {
                        "x": 214.1374969482422,
                        "y": 5523.34912109375,
                        "z": 365.89105224609375
                    },
                    "rotation": {
                        "roll": 0.0358499139547348,
                        "pitch": -1.2235941886901855,
                        "yaw": 91.77813720703125
                    }
                },
                "velocity": {
                    "x": -0.20705358684062958,
                    "y": 6.333023548126221,
                    "z": -0.05837474763393402
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.339186668395996,
                "transform": {
                    "location": {
                        "x": 214.32359313964844,
                        "y": 5545.99755859375,
                        "z": 365.695068359375
                    },
                    "rotation": {
                        "roll": 0.0010977712227031589,
                        "pitch": -0.5915831327438354,
                        "yaw": 88.23223876953125
                    }
                },
                "velocity": {
                    "x": 0.28646185994148254,
                    "y": 9.334484100341797,
                    "z": -0.0758509412407875
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.2647337913513184,
                "transform": {
                    "location": {
                        "x": 215.0867156982422,
                        "y": 5571.38623046875,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": 0.015767209231853485,
                        "pitch": -0.42050057649612427,
                        "yaw": 88.36467742919922
                    }
                },
                "velocity": {
                    "x": 0.09067124128341675,
                    "y": 3.2633776664733887,
                    "z": -0.02513802982866764
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00012764829443767667,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.000585118366871e-05,
                    "y": 6.865875093353679e-06,
                    "z": -0.0001258837291970849
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00021236592147033662,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290588378906
                    },
                    "rotation": {
                        "roll": 0.008784216828644276,
                        "pitch": -0.6335751414299011,
                        "yaw": 179.06414794921875
                    }
                },
                "velocity": {
                    "x": -2.038419188465923e-05,
                    "y": -6.588744327018503e-06,
                    "z": 0.00021128264779690653
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.437540054321289,
                "transform": {
                    "location": {
                        "x": 213.759765625,
                        "y": 5621.32470703125,
                        "z": 365.11712646484375
                    },
                    "rotation": {
                        "roll": -0.031249985098838806,
                        "pitch": -0.41692838072776794,
                        "yaw": 97.41937255859375
                    }
                },
                "velocity": {
                    "x": -1.770272970199585,
                    "y": 14.328221321105957,
                    "z": -0.10369917750358582
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004223471914883703,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": -3.6593525010175654e-07,
                    "y": -2.1348878362914547e-05,
                    "z": 0.0004218071117065847
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000808719836641103,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": -0.43841615319252014,
                        "yaw": 179.98301696777344
                    }
                },
                "velocity": {
                    "x": -4.593386984197423e-05,
                    "y": 1.821943988034036e-05,
                    "z": 0.0008072087075561285
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00041271644295193255,
                "transform": {
                    "location": {
                        "x": 203.042724609375,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.037477247416973114,
                        "yaw": -1.783477783203125
                    }
                },
                "velocity": {
                    "x": 3.204122094757622e-06,
                    "y": 6.513096013804898e-05,
                    "z": 0.00040753226494416595
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006784651195630431,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.03698547184467316,
                        "yaw": -0.20184326171875
                    }
                },
                "velocity": {
                    "x": -2.1783355350635247e-06,
                    "y": 2.1583882698905654e-05,
                    "z": 0.0006781182019039989
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00029219136922620237,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": 5.553476398745261e-07,
                    "y": 1.4625666153733619e-05,
                    "z": -0.0002918245445471257
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7586592435836792,
                "transform": {
                    "location": {
                        "x": 217.55116271972656,
                        "y": 5610.49853515625,
                        "z": 365.2070617675781
                    },
                    "rotation": {
                        "roll": 0.004708957392722368,
                        "pitch": 0.42426401376724243,
                        "yaw": -85.44692993164062
                    }
                },
                "velocity": {
                    "x": 0.13135063648223877,
                    "y": -1.753702163696289,
                    "z": 0.012580127455294132
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.582902193069458,
                "transform": {
                    "location": {
                        "x": 218.15585327148438,
                        "y": 5597.59228515625,
                        "z": 365.2981872558594
                    },
                    "rotation": {
                        "roll": 0.0014180802972987294,
                        "pitch": 0.36688360571861267,
                        "yaw": -88.43865966796875
                    }
                },
                "velocity": {
                    "x": 0.0637693852186203,
                    "y": -3.5822432041168213,
                    "z": 0.02560732699930668
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.015874827280640602,
        "expert_target_speed": 10.0,
        "target_point": [
            51.41303492195176,
            -8.450929987194801
        ],
        "target_point_next": [
            52.39837478580103,
            -8.6215503645651
        ]
    },
    "590": {
        "acceleration": [
            1.0082340240478516,
            0.19309520721435547,
            0.06315134465694427
        ],
        "angular_velocity": [
            -0.5004076957702637,
            -1.2255384922027588,
            -8.570211410522461
        ],
        "forward_vector": [
            -0.993754506111145,
            -0.11154069006443024,
            0.003266924526542425
        ],
        "right_vector": [
            0.1115216612815857,
            -0.9937466979026794,
            -0.005522162187844515
        ],
        "location": [
            208.6639862060547,
            5580.5322265625,
            365.44970703125
        ],
        "rotation": [
            0.3163999021053314,
            0.18718132376670837,
            -173.5958251953125
        ],
        "velocity": [
            -4.376657485961914,
            -0.26597464084625244,
            0.016517847776412964
        ],
        "speed": 4.384731834331463,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.86312866210938,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.45554780960083,
                "transform": {
                    "location": {
                        "x": 214.09835815429688,
                        "y": 5524.90869140625,
                        "z": 365.87255859375
                    },
                    "rotation": {
                        "roll": 0.05838453397154808,
                        "pitch": -0.613706111907959,
                        "yaw": 91.3393325805664
                    }
                },
                "velocity": {
                    "x": -0.11594409495592117,
                    "y": 6.454275131225586,
                    "z": -0.054649222642183304
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.80501937866211,
                "transform": {
                    "location": {
                        "x": 214.39312744140625,
                        "y": 5548.26123046875,
                        "z": 365.6766662597656
                    },
                    "rotation": {
                        "roll": -0.002105724299326539,
                        "pitch": -0.5730323195457458,
                        "yaw": 88.24505615234375
                    }
                },
                "velocity": {
                    "x": 0.2680867314338684,
                    "y": 8.800650596618652,
                    "z": -0.07108350843191147
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.727686882019043,
                "transform": {
                    "location": {
                        "x": 215.10983276367188,
                        "y": 5572.2236328125,
                        "z": 365.4820861816406
                    },
                    "rotation": {
                        "roll": 0.039406195282936096,
                        "pitch": -0.35397452116012573,
                        "yaw": 88.38677215576172
                    }
                },
                "velocity": {
                    "x": 0.10207778960466385,
                    "y": 3.7261886596679688,
                    "z": -0.02732495218515396
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00041892522131092846,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 4.5909433538326994e-05,
                    "y": -3.957622539019212e-05,
                    "z": 0.00041451703873462975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000277461891528219,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.2034271751181222e-05,
                    "y": 8.81723372003762e-06,
                    "z": -0.0002764450036920607
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5109,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002714289876166731,
                "transform": {
                    "location": {
                        "x": 250.65968322753906,
                        "y": 5579.9716796875,
                        "z": 365.6290283203125
                    },
                    "rotation": {
                        "roll": 0.008784216828644276,
                        "pitch": -0.6335751414299011,
                        "yaw": 179.06414794921875
                    }
                },
                "velocity": {
                    "x": -1.514330506324768e-05,
                    "y": 4.505073775362689e-06,
                    "z": -0.0002709687687456608
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.440425872802734,
                "transform": {
                    "location": {
                        "x": 213.29835510253906,
                        "y": 5624.9052734375,
                        "z": 365.09075927734375
                    },
                    "rotation": {
                        "roll": -0.02883908897638321,
                        "pitch": -0.42416155338287354,
                        "yaw": 98.27632904052734
                    }
                },
                "velocity": {
                    "x": -1.9886242151260376,
                    "y": 14.302440643310547,
                    "z": -0.10705243051052094
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005755616002716124,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 1.072965551429661e-05,
                    "y": 4.977133812644752e-06,
                    "z": 0.0005754400626756251
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5104,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007813242264091969,
                "transform": {
                    "location": {
                        "x": 240.876708984375,
                        "y": 5579.99853515625,
                        "z": 365.5788269042969
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": -0.43841615319252014,
                        "yaw": 179.98301696777344
                    }
                },
                "velocity": {
                    "x": -1.9025355868507177e-05,
                    "y": -1.0268147434544517e-06,
                    "z": 0.0007810918614268303
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.000122143464977853,
                "transform": {
                    "location": {
                        "x": 203.0428009033203,
                        "y": 5583.5615234375,
                        "z": 365.45318603515625
                    },
                    "rotation": {
                        "roll": 1.8842116332962178e-05,
                        "pitch": 0.03786656633019447,
                        "yaw": -1.783477783203125
                    }
                },
                "velocity": {
                    "x": 2.6741567126009613e-05,
                    "y": 7.602584082633257e-05,
                    "z": -9.178229083772749e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003724792622961104,
                "transform": {
                    "location": {
                        "x": 203.96139526367188,
                        "y": 5586.78759765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.03698547184467316,
                        "yaw": -0.20184326171875
                    }
                },
                "velocity": {
                    "x": 1.3786768249701709e-05,
                    "y": -5.157583291293122e-05,
                    "z": 0.00036863351124338806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5100,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00013242258864920586,
                "transform": {
                    "location": {
                        "x": 230.978271484375,
                        "y": 5579.994140625,
                        "z": 365.49359130859375
                    },
                    "rotation": {
                        "roll": 0.005257115233689547,
                        "pitch": -0.22595630586147308,
                        "yaw": 178.16334533691406
                    }
                },
                "velocity": {
                    "x": -1.9875540147040738e-06,
                    "y": 1.1477842235763092e-05,
                    "z": -0.00013190925528761
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5091,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0667898654937744,
                "transform": {
                    "location": {
                        "x": 217.5895233154297,
                        "y": 5609.9931640625,
                        "z": 365.21099853515625
                    },
                    "rotation": {
                        "roll": 0.003061792114749551,
                        "pitch": 0.37828999757766724,
                        "yaw": -85.50660705566406
                    }
                },
                "velocity": {
                    "x": 0.15403158962726593,
                    "y": -2.0609934329986572,
                    "z": 0.014164380729198456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.138252019882202,
                "transform": {
                    "location": {
                        "x": 218.17210388183594,
                        "y": 5596.7607421875,
                        "z": 365.3035583496094
                    },
                    "rotation": {
                        "roll": 0.0031360795255750418,
                        "pitch": 0.43163377046585083,
                        "yaw": -88.62136840820312
                    }
                },
                "velocity": {
                    "x": 0.055660661309957504,
                    "y": -3.1376760005950928,
                    "z": 0.022723454982042313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0643848106265068,
        "expert_target_speed": 10.0,
        "target_point": [
            50.688691291934276,
            -5.452069049087813
        ],
        "target_point_next": [
            51.68217876369336,
            -5.5660366055336095
        ]
    },
    "595": {
        "acceleration": [
            -0.5997657775878906,
            -0.012521743774414062,
            -0.10482117533683777
        ],
        "angular_velocity": [
            -0.648894190788269,
            -0.755007803440094,
            -1.6356080770492554
        ],
        "forward_vector": [
            -0.995399534702301,
            -0.09579706192016602,
            -0.0016009799437597394
        ],
        "right_vector": [
            0.09579839557409286,
            -0.9954004287719727,
            -0.0007778588333167136
        ],
        "location": [
            207.587890625,
            5580.44384765625,
            365.4565124511719
        ],
        "rotation": [
            0.04456809163093567,
            -0.09172943234443665,
            -174.50279235839844
        ],
        "velocity": [
            -4.335653305053711,
            -0.36939606070518494,
            0.020248794928193092
        ],
        "speed": 4.351361055036421,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 91.78694152832031,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.201964378356934,
                "transform": {
                    "location": {
                        "x": 214.06570434570312,
                        "y": 5526.7607421875,
                        "z": 365.85205078125
                    },
                    "rotation": {
                        "roll": 0.0276902187615633,
                        "pitch": -0.03393237665295601,
                        "yaw": 90.96381378173828
                    }
                },
                "velocity": {
                    "x": -0.11710456758737564,
                    "y": 8.200825691223145,
                    "z": -0.07047227770090103
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.375608444213867,
                "transform": {
                    "location": {
                        "x": 214.45843505859375,
                        "y": 5550.40478515625,
                        "z": 365.6595153808594
                    },
                    "rotation": {
                        "roll": -0.002624520566314459,
                        "pitch": -0.5641462802886963,
                        "yaw": 88.25856018066406
                    }
                },
                "velocity": {
                    "x": 0.25379201769828796,
                    "y": 8.371490478515625,
                    "z": -0.06746230274438858
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.106456756591797,
                "transform": {
                    "location": {
                        "x": 215.140380859375,
                        "y": 5573.3359375,
                        "z": 365.47503662109375
                    },
                    "rotation": {
                        "roll": 0.017122596502304077,
                        "pitch": -0.20779483020305634,
                        "yaw": 88.40613555908203
                    }
                },
                "velocity": {
                    "x": 0.1425907462835312,
                    "y": 5.10441255569458,
                    "z": -0.02326549030840397
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011573618394322693,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 3.5056917113251984e-05,
                    "y": 1.8568456425782642e-06,
                    "z": 0.00011028339940821752
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00010663137800293043,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.204120028181933e-05,
                    "y": 1.934564807015704e-06,
                    "z": -0.00010431056580273435
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5108,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.44104290008545,
                "transform": {
                    "location": {
                        "x": 212.781005859375,
                        "y": 5628.47802734375,
                        "z": 365.0638122558594
                    },
                    "rotation": {
                        "roll": -0.02697753719985485,
                        "pitch": -0.4292568862438202,
                        "yaw": 99.17232513427734
                    }
                },
                "velocity": {
                    "x": -2.198702335357666,
                    "y": 14.27227783203125,
                    "z": -0.10734222829341888
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.37346344976686e-05,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 5.47654917681939e-06,
                    "y": -7.393600299110403e-06,
                    "z": 7.315830589504912e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 194.21124267578125,
                        "y": 5586.81005859375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.187106192111969,
                        "yaw": -0.1373901218175888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.03509485349059105,
                "transform": {
                    "location": {
                        "x": 203.0457000732422,
                        "y": 5583.5615234375,
                        "z": 365.4531555175781
                    },
                    "rotation": {
                        "roll": -0.00164794921875,
                        "pitch": 0.0464521124958992,
                        "yaw": -1.7938538789749146
                    }
                },
                "velocity": {
                    "x": 0.03508111089468002,
                    "y": 0.0009680078946985304,
                    "z": 0.0001652336068218574
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.06792304664850235,
                "transform": {
                    "location": {
                        "x": 203.966796875,
                        "y": 5586.78759765625,
                        "z": 365.4921875
                    },
                    "rotation": {
                        "roll": 0.0007410249090753496,
                        "pitch": 0.042285699397325516,
                        "yaw": -0.2025146335363388
                    }
                },
                "velocity": {
                    "x": 0.06792246550321579,
                    "y": 4.520644324657042e-06,
                    "z": 0.0002814006875269115
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.004057121928781271,
        "expert_target_speed": 10.0,
        "target_point": [
            49.68902809993504,
            -4.633925062106589
        ],
        "target_point_next": [
            50.684195083986985,
            -4.732152524241262
        ]
    },
    "600": {
        "acceleration": [
            -1.2773895263671875,
            0.05445718765258789,
            -0.03214340656995773
        ],
        "angular_velocity": [
            0.07705581933259964,
            0.4925755560398102,
            -2.044079303741455
        ],
        "forward_vector": [
            -0.9961682558059692,
            -0.08745679259300232,
            -0.000308990478515625
        ],
        "right_vector": [
            0.08745697140693665,
            -0.9961681365966797,
            -0.0006063724285922945
        ],
        "location": [
            206.46929931640625,
            5580.35107421875,
            365.45648193359375
        ],
        "rotation": [
            0.03474258631467819,
            -0.01770384982228279,
            -174.98268127441406
        ],
        "velocity": [
            -4.620157718658447,
            -0.35518980026245117,
            -0.006527109071612358
        ],
        "speed": 4.633790795826858,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 90.6684341430664,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.554948806762695,
                "transform": {
                    "location": {
                        "x": 214.03631591796875,
                        "y": 5528.93603515625,
                        "z": 365.8340148925781
                    },
                    "rotation": {
                        "roll": 0.032587990164756775,
                        "pitch": -0.12573695182800293,
                        "yaw": 90.67948150634766
                    }
                },
                "velocity": {
                    "x": -0.05582894757390022,
                    "y": 9.55443000793457,
                    "z": -0.08241543918848038
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.893523693084717,
                "transform": {
                    "location": {
                        "x": 214.51976013183594,
                        "y": 5552.43505859375,
                        "z": 365.6432800292969
                    },
                    "rotation": {
                        "roll": -0.002197291934862733,
                        "pitch": -0.5613049268722534,
                        "yaw": 88.27254486083984
                    }
                },
                "velocity": {
                    "x": 0.23810887336730957,
                    "y": 7.889675140380859,
                    "z": -0.06362506002187729
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.633925914764404,
                "transform": {
                    "location": {
                        "x": 215.17718505859375,
                        "y": 5574.6865234375,
                        "z": 365.4679870605469
                    },
                    "rotation": {
                        "roll": -0.053100574761629105,
                        "pitch": -0.18255046010017395,
                        "yaw": 88.47048950195312
                    }
                },
                "velocity": {
                    "x": 0.15694168210029602,
                    "y": 5.63158655166626,
                    "z": -0.04151301831007004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005311028799042106,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 3.223061503376812e-05,
                    "y": -8.850893777889723e-07,
                    "z": 0.0005301232449710369
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.47804260253906,
                        "y": 5586.82470703125,
                        "z": 365.5669860839844
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.6754441857337952,
                        "yaw": -0.0664062350988388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.033165871282108e-05,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.3244991098181345e-05,
                    "y": -3.1536224014416803e-06,
                    "z": -4.453089786693454e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00029018710483796895,
                "transform": {
                    "location": {
                        "x": 193.63038635253906,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": 8.387930574826896e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.0904235690832138
                    }
                },
                "velocity": {
                    "x": 8.626803719380405e-06,
                    "y": -3.4329282243561465e-06,
                    "z": 0.0002900385297834873
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.08730024099349976,
                "transform": {
                    "location": {
                        "x": 194.2175750732422,
                        "y": 5586.81005859375,
                        "z": 365.4569091796875
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.18139615654945374,
                        "yaw": -0.1350097507238388
                    }
                },
                "velocity": {
                    "x": 0.08729558438062668,
                    "y": -0.0002554186503402889,
                    "z": 0.0008644962217658758
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6606840491294861,
                "transform": {
                    "location": {
                        "x": 203.11436462402344,
                        "y": 5583.56103515625,
                        "z": 365.45263671875
                    },
                    "rotation": {
                        "roll": -0.01171875,
                        "pitch": 0.1901046484708786,
                        "yaw": -1.7799071073532104
                    }
                },
                "velocity": {
                    "x": 0.6606575846672058,
                    "y": -0.005759233608841896,
                    "z": 0.001322250347584486
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6854752898216248,
                "transform": {
                    "location": {
                        "x": 204.0428009033203,
                        "y": 5586.7880859375,
                        "z": 365.4918212890625
                    },
                    "rotation": {
                        "roll": 0.0001369034725939855,
                        "pitch": 0.08673656731843948,
                        "yaw": -0.22720332443714142
                    }
                },
                "velocity": {
                    "x": 0.6854689717292786,
                    "y": -0.0026471929159015417,
                    "z": 0.0012841224670410156
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06269467622041702,
        "expert_target_speed": 10.0,
        "target_point": [
            48.60367800368368,
            -4.2121791790617715
        ],
        "target_point_next": [
            49.59963279045116,
            -4.302068128212522
        ]
    },
    "605": {
        "acceleration": [
            0.10014533996582031,
            0.18259823322296143,
            0.010446161031723022
        ],
        "angular_velocity": [
            0.059245139360427856,
            -0.16221332550048828,
            -2.0831713676452637
        ],
        "forward_vector": [
            -0.9969205260276794,
            -0.07841767370700836,
            0.00034117698669433594
        ],
        "right_vector": [
            0.0784173458814621,
            -0.9969201683998108,
            -0.0008963971049524844
        ],
        "location": [
            205.28858947753906,
            5580.26416015625,
            365.4548645019531
        ],
        "rotation": [
            0.05135978013277054,
            0.019548000767827034,
            -175.50238037109375
        ],
        "velocity": [
            -4.746626853942871,
            -0.321868360042572,
            -0.005116167012602091
        ],
        "speed": 4.75752727073299,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 89.48792266845703,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.402070999145508,
                "transform": {
                    "location": {
                        "x": 214.03054809570312,
                        "y": 5531.486328125,
                        "z": 365.81280517578125
                    },
                    "rotation": {
                        "roll": 0.08338632434606552,
                        "pitch": -0.2195700854063034,
                        "yaw": 89.91211700439453
                    }
                },
                "velocity": {
                    "x": 0.03789205849170685,
                    "y": 10.401629447937012,
                    "z": -0.08809028565883636
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.517247676849365,
                "transform": {
                    "location": {
                        "x": 214.57765197753906,
                        "y": 5554.35791015625,
                        "z": 365.6278076171875
                    },
                    "rotation": {
                        "roll": -0.0011596656404435635,
                        "pitch": -0.5545908212661743,
                        "yaw": 88.27820587158203
                    }
                },
                "velocity": {
                    "x": 0.225081667304039,
                    "y": 7.513637065887451,
                    "z": -0.06008647382259369
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.947372913360596,
                "transform": {
                    "location": {
                        "x": 215.21522521972656,
                        "y": 5576.21435546875,
                        "z": 365.45599365234375
                    },
                    "rotation": {
                        "roll": -0.0613708421587944,
                        "pitch": -0.16751037538051605,
                        "yaw": 88.58946990966797
                    }
                },
                "velocity": {
                    "x": 0.1704557240009308,
                    "y": 6.945119857788086,
                    "z": -0.047368887811899185
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002329440030734986,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 3.573983849491924e-05,
                    "y": 6.822799150540959e-06,
                    "z": 0.00023008481366559863
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.06270558387041092,
                "transform": {
                    "location": {
                        "x": 184.48109436035156,
                        "y": 5586.82470703125,
                        "z": 365.5665588378906
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": -0.6533553600311279,
                        "yaw": -0.0656127780675888
                    }
                },
                "velocity": {
                    "x": 0.06270376592874527,
                    "y": -0.0001409477845299989,
                    "z": -0.00045596121344715357
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002896236255764961,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 1.8925516997114755e-05,
                    "y": -1.8453434904586175e-06,
                    "z": -0.00028899870812892914
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0862862840294838,
                "transform": {
                    "location": {
                        "x": 193.63421630859375,
                        "y": 5583.55859375,
                        "z": 365.4667053222656
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": -0.2202189415693283,
                        "yaw": -0.091888427734375
                    }
                },
                "velocity": {
                    "x": 0.08628334850072861,
                    "y": -3.105936411884613e-05,
                    "z": -0.000710878346581012
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5636277198791504,
                "transform": {
                    "location": {
                        "x": 194.2980499267578,
                        "y": 5586.81005859375,
                        "z": 365.4567565917969
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": -0.1639108657836914,
                        "yaw": -0.1397705078125
                    }
                },
                "velocity": {
                    "x": 0.5636254549026489,
                    "y": -0.0009413635707460344,
                    "z": -0.0012893867678940296
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4271076917648315,
                "transform": {
                    "location": {
                        "x": 203.3824920654297,
                        "y": 5583.55810546875,
                        "z": 365.45233154296875
                    },
                    "rotation": {
                        "roll": -0.0212097130715847,
                        "pitch": 0.3306289613246918,
                        "yaw": -1.556915283203125
                    }
                },
                "velocity": {
                    "x": 1.4270551204681396,
                    "y": -0.012104230001568794,
                    "z": 0.0018278503557667136
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4886574745178223,
                "transform": {
                    "location": {
                        "x": 204.3211669921875,
                        "y": 5586.78759765625,
                        "z": 365.4917907714844
                    },
                    "rotation": {
                        "roll": 0.0003532918926794082,
                        "pitch": 0.11602441966533661,
                        "yaw": -0.2775878310203552
                    }
                },
                "velocity": {
                    "x": 1.4886517524719238,
                    "y": -0.003895567962899804,
                    "z": 0.0014134024968370795
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.118318572640419,
        "expert_target_speed": 10.0,
        "target_point": [
            47.455994714860275,
            -3.765215096353441
        ],
        "target_point_next": [
            48.452723849490205,
            -3.846066766987712
        ]
    },
    "610": {
        "acceleration": [
            0.08083343505859375,
            0.192297101020813,
            0.005485350266098976
        ],
        "angular_velocity": [
            0.014651198871433735,
            -0.13101181387901306,
            -2.2548768520355225
        ],
        "forward_vector": [
            -0.997623860836029,
            -0.06889403611421585,
            -0.0004389285750221461
        ],
        "right_vector": [
            0.06889448314905167,
            -0.9976233243942261,
            -0.0011033229529857635
        ],
        "location": [
            204.1066436767578,
            5580.1884765625,
            365.4540100097656
        ],
        "rotation": [
            0.06321576982736588,
            -0.025148754939436913,
            -176.04953002929688
        ],
        "velocity": [
            -4.716462135314941,
            -0.27052217721939087,
            -0.004887809511274099
        ],
        "speed": 4.72421393696635,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 88.30622863769531,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.495699882507324,
                "transform": {
                    "location": {
                        "x": 214.0428924560547,
                        "y": 5533.9765625,
                        "z": 365.79547119140625
                    },
                    "rotation": {
                        "roll": 0.04737866669893265,
                        "pitch": -0.6728487014770508,
                        "yaw": 89.40444946289062
                    }
                },
                "velocity": {
                    "x": 0.1134238913655281,
                    "y": 9.494684219360352,
                    "z": -0.08019019663333893
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.0815653800964355,
                "transform": {
                    "location": {
                        "x": 214.63218688964844,
                        "y": 5556.1796875,
                        "z": 365.6133117675781
                    },
                    "rotation": {
                        "roll": -0.002136264694854617,
                        "pitch": -0.5446460843086243,
                        "yaw": 88.28466033935547
                    }
                },
                "velocity": {
                    "x": 0.2117355912923813,
                    "y": 7.078176498413086,
                    "z": -0.05620785430073738
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.980690002441406,
                "transform": {
                    "location": {
                        "x": 215.2595977783203,
                        "y": 5578.072265625,
                        "z": 365.44342041015625
                    },
                    "rotation": {
                        "roll": -0.128143310546875,
                        "pitch": -0.3636733889579773,
                        "yaw": 88.63914489746094
                    }
                },
                "velocity": {
                    "x": 0.1906476765871048,
                    "y": 7.978078365325928,
                    "z": -0.07302118837833405
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008382051018998027,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 5.447938747238368e-05,
                    "y": -3.343970456626266e-05,
                    "z": 0.0008357641054317355
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5664514899253845,
                "transform": {
                    "location": {
                        "x": 184.53929138183594,
                        "y": 5586.82470703125,
                        "z": 365.5657043457031
                    },
                    "rotation": {
                        "roll": -0.0002136229886673391,
                        "pitch": -0.6001276969909668,
                        "yaw": -0.0788268968462944
                    }
                },
                "velocity": {
                    "x": 0.5664274096488953,
                    "y": -0.0010615725768730044,
                    "z": -0.005112113896757364
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00019939529011026025,
                "transform": {
                    "location": {
                        "x": 183.2986602783203,
                        "y": 5583.5732421875,
                        "z": 365.54034423828125
                    },
                    "rotation": {
                        "roll": 0.0036612441763281822,
                        "pitch": -0.6903954744338989,
                        "yaw": -0.2598572373390198
                    }
                },
                "velocity": {
                    "x": 2.019695966737345e-05,
                    "y": 2.0449831936275586e-05,
                    "z": -0.00019731286738533527
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6732774972915649,
                "transform": {
                    "location": {
                        "x": 193.7062530517578,
                        "y": 5583.55859375,
                        "z": 365.4664611816406
                    },
                    "rotation": {
                        "roll": -0.0008239746675826609,
                        "pitch": -0.1266726851463318,
                        "yaw": -0.090301513671875
                    }
                },
                "velocity": {
                    "x": 0.6732723712921143,
                    "y": -0.0006212907028384507,
                    "z": -0.002558469772338867
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0878716707229614,
                "transform": {
                    "location": {
                        "x": 194.51084899902344,
                        "y": 5586.810546875,
                        "z": 365.4559631347656
                    },
                    "rotation": {
                        "roll": 0.00016298941045533866,
                        "pitch": -0.14407600462436676,
                        "yaw": -0.2625731825828552
                    }
                },
                "velocity": {
                    "x": 1.0878649950027466,
                    "y": -0.003382983384653926,
                    "z": -0.0017208193894475698
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3750977516174316,
                "transform": {
                    "location": {
                        "x": 203.86195373535156,
                        "y": 5583.55322265625,
                        "z": 365.4524230957031
                    },
                    "rotation": {
                        "roll": -0.02291869930922985,
                        "pitch": 0.4078373908996582,
                        "yaw": -1.295654535293579
                    }
                },
                "velocity": {
                    "x": 2.3750269412994385,
                    "y": -0.018216043710708618,
                    "z": 0.002023239154368639
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3744375705718994,
                "transform": {
                    "location": {
                        "x": 204.79742431640625,
                        "y": 5586.7861328125,
                        "z": 365.491943359375
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.13016290962696075,
                        "yaw": -0.2534789741039276
                    }
                },
                "velocity": {
                    "x": 2.374427080154419,
                    "y": -0.006807385012507439,
                    "z": 0.00192229263484478
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1645195037126541,
        "expert_target_speed": 10.0,
        "target_point": [
            46.30543504504893,
            -3.305938317656477
        ],
        "target_point_next": [
            47.302890822383226,
            -3.377268064094501
        ]
    },
    "615": {
        "acceleration": [
            -0.34247398376464844,
            0.17792820930480957,
            0.0033645611256361008
        ],
        "angular_velocity": [
            0.022399790585041046,
            0.06940295547246933,
            -2.2644643783569336
        ],
        "forward_vector": [
            -0.998251736164093,
            -0.059103500097990036,
            -0.0004467963590286672
        ],
        "right_vector": [
            0.05910399183630943,
            -0.9982510805130005,
            -0.0011793262092396617
        ],
        "location": [
            202.92405700683594,
            5580.125,
            365.4530334472656
        ],
        "rotation": [
            0.06757043302059174,
            -0.02559954673051834,
            -176.6116485595703
        ],
        "velocity": [
            -4.76101541519165,
            -0.22496043145656586,
            -0.003501796629279852
        ],
        "speed": 4.76632720020496,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 87.12393188476562,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.078834533691406,
                "transform": {
                    "location": {
                        "x": 214.07655334472656,
                        "y": 5536.263671875,
                        "z": 365.7762451171875
                    },
                    "rotation": {
                        "roll": 0.05439147725701332,
                        "pitch": -0.6747475266456604,
                        "yaw": 88.89998626708984
                    }
                },
                "velocity": {
                    "x": 0.18120448291301727,
                    "y": 9.07670783996582,
                    "z": -0.07601242512464523
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.751272201538086,
                "transform": {
                    "location": {
                        "x": 214.68389892578125,
                        "y": 5557.90625,
                        "z": 365.59954833984375
                    },
                    "rotation": {
                        "roll": -0.00033570779487490654,
                        "pitch": -0.536285936832428,
                        "yaw": 88.28620910644531
                    }
                },
                "velocity": {
                    "x": 0.20284967124462128,
                    "y": 6.748011112213135,
                    "z": -0.05361005663871765
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.241442680358887,
                "transform": {
                    "location": {
                        "x": 215.30984497070312,
                        "y": 5580.23046875,
                        "z": 365.42315673828125
                    },
                    "rotation": {
                        "roll": -0.0594787634909153,
                        "pitch": -0.33496612310409546,
                        "yaw": 88.709716796875
                    }
                },
                "velocity": {
                    "x": 0.18651045858860016,
                    "y": 9.239171981811523,
                    "z": -0.08473625034093857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.194693509722129e-05,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 2.0372419385239482e-05,
                    "y": 4.9088623200077564e-05,
                    "z": -6.237444904400036e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.373376727104187,
                "transform": {
                    "location": {
                        "x": 184.77999877929688,
                        "y": 5586.82470703125,
                        "z": 365.56292724609375
                    },
                    "rotation": {
                        "roll": 0.0003768102906178683,
                        "pitch": -0.5458686947822571,
                        "yaw": -0.1215515062212944
                    }
                },
                "velocity": {
                    "x": 1.3733015060424805,
                    "y": -0.0023524980060756207,
                    "z": -0.01418227143585682
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5071700811386108,
                "transform": {
                    "location": {
                        "x": 183.35061645507812,
                        "y": 5583.5732421875,
                        "z": 365.53961181640625
                    },
                    "rotation": {
                        "roll": 0.001252011745236814,
                        "pitch": -0.6798974871635437,
                        "yaw": -0.26165771484375
                    }
                },
                "velocity": {
                    "x": 0.5071311593055725,
                    "y": 0.0004484356031753123,
                    "z": -0.00627071363851428
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8303929567337036,
                "transform": {
                    "location": {
                        "x": 194.0135040283203,
                        "y": 5583.55810546875,
                        "z": 365.4656066894531
                    },
                    "rotation": {
                        "roll": 0.0010238724062219262,
                        "pitch": 0.009152453392744064,
                        "yaw": -0.131683349609375
                    }
                },
                "velocity": {
                    "x": 1.8303786516189575,
                    "y": -0.004321610555052757,
                    "z": -0.005789346527308226
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6327099800109863,
                "transform": {
                    "location": {
                        "x": 194.85952758789062,
                        "y": 5586.80810546875,
                        "z": 365.454833984375
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.12063479423522949,
                        "yaw": -0.1508788913488388
                    }
                },
                "velocity": {
                    "x": 1.632702112197876,
                    "y": -0.004461599979549646,
                    "z": -0.0024592780973762274
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.734448194503784,
                "transform": {
                    "location": {
                        "x": 204.62515258789062,
                        "y": 5583.546875,
                        "z": 365.4524230957031
                    },
                    "rotation": {
                        "roll": -0.02813720703125,
                        "pitch": 0.5491335391998291,
                        "yaw": -0.94158935546875
                    }
                },
                "velocity": {
                    "x": 3.734372138977051,
                    "y": -0.02371465414762497,
                    "z": 0.0021250343415886164
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.7458388805389404,
                "transform": {
                    "location": {
                        "x": 205.5632781982422,
                        "y": 5586.78369140625,
                        "z": 365.4920959472656
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": 0.1728106141090393,
                        "yaw": -0.2222289890050888
                    }
                },
                "velocity": {
                    "x": 3.745823383331299,
                    "y": -0.010631945915520191,
                    "z": 0.0016300200950354338
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.20008929073810577,
        "expert_target_speed": 10.0,
        "target_point": [
            45.15136791921553,
            -2.844979643863432
        ],
        "target_point_next": [
            46.14947546244848,
            -2.906520627004346
        ]
    },
    "620": {
        "acceleration": [
            -0.3959465026855469,
            0.18160372972488403,
            0.005688094533979893
        ],
        "angular_velocity": [
            0.0412258505821228,
            0.06669856607913971,
            -2.3439221382141113
        ],
        "forward_vector": [
            -0.9987990856170654,
            -0.04899342730641365,
            -0.0001087188720703125
        ],
        "right_vector": [
            0.04899352416396141,
            -0.9987983107566833,
            -0.0012324186973273754
        ],
        "location": [
            201.72132873535156,
            5580.072265625,
            365.4521789550781
        ],
        "rotation": [
            0.07061240822076797,
            -0.006229132413864136,
            -177.19175720214844
        ],
        "velocity": [
            -4.858552932739258,
            -0.18046905100345612,
            -0.002242393558844924
        ],
        "speed": 4.861903503628937,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 85.9215087890625,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.91597843170166,
                "transform": {
                    "location": {
                        "x": 214.126708984375,
                        "y": 5538.62841796875,
                        "z": 365.7536926269531
                    },
                    "rotation": {
                        "roll": 0.0252067893743515,
                        "pitch": -0.31896981596946716,
                        "yaw": 88.63467407226562
                    }
                },
                "velocity": {
                    "x": 0.23610608279705048,
                    "y": 9.912832260131836,
                    "z": -0.08152429759502411
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.356525421142578,
                "transform": {
                    "location": {
                        "x": 214.73304748535156,
                        "y": 5559.5419921875,
                        "z": 365.5867919921875
                    },
                    "rotation": {
                        "roll": -0.0012817030074074864,
                        "pitch": -0.533075749874115,
                        "yaw": 88.28060150146484
                    }
                },
                "velocity": {
                    "x": 0.19080981612205505,
                    "y": 6.353456974029541,
                    "z": -0.050898477435112
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.516240119934082,
                "transform": {
                    "location": {
                        "x": 215.3533477783203,
                        "y": 5582.70556640625,
                        "z": 365.40093994140625
                    },
                    "rotation": {
                        "roll": -0.020446794107556343,
                        "pitch": -0.2978782057762146,
                        "yaw": 89.06781768798828
                    }
                },
                "velocity": {
                    "x": 0.16686685383319855,
                    "y": 10.514517784118652,
                    "z": -0.09158851206302643
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.715267176739872e-05,
                "transform": {
                    "location": {
                        "x": 174.7685089111328,
                        "y": 5586.814453125,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -0.7882720828056335,
                        "yaw": 0.27375221252441406
                    }
                },
                "velocity": {
                    "x": 3.4944561775773764e-05,
                    "y": 2.3590121145389276e-06,
                    "z": 7.980539521668106e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.513489842414856,
                "transform": {
                    "location": {
                        "x": 185.156005859375,
                        "y": 5586.82421875,
                        "z": 365.55987548828125
                    },
                    "rotation": {
                        "roll": 0.0001727775961626321,
                        "pitch": -0.6107691526412964,
                        "yaw": -0.1184692233800888
                    }
                },
                "velocity": {
                    "x": 0.5134669542312622,
                    "y": -0.0007509493152610958,
                    "z": -0.004789791069924831
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2335618734359741,
                "transform": {
                    "location": {
                        "x": 183.57632446289062,
                        "y": 5583.5732421875,
                        "z": 365.536865234375
                    },
                    "rotation": {
                        "roll": 0.0014670250238850713,
                        "pitch": -0.6728828549385071,
                        "yaw": -0.272369384765625
                    }
                },
                "velocity": {
                    "x": 1.2334624528884888,
                    "y": -0.002854467835277319,
                    "z": -0.01540230680257082
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.3150999546051025,
                "transform": {
                    "location": {
                        "x": 194.65655517578125,
                        "y": 5583.556640625,
                        "z": 365.463623046875
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": 0.1308322697877884,
                        "yaw": -0.1060485765337944
                    }
                },
                "velocity": {
                    "x": 3.315075635910034,
                    "y": -0.007098580244928598,
                    "z": -0.010506324470043182
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1685492992401123,
                "transform": {
                    "location": {
                        "x": 195.33624267578125,
                        "y": 5586.8076171875,
                        "z": 365.45343017578125
                    },
                    "rotation": {
                        "roll": -9.1552734375e-05,
                        "pitch": -0.08636090904474258,
                        "yaw": -0.147735595703125
                    }
                },
                "velocity": {
                    "x": 2.16853404045105,
                    "y": -0.005588947795331478,
                    "z": -0.005843057297170162
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.838784694671631,
                "transform": {
                    "location": {
                        "x": 205.7255401611328,
                        "y": 5583.5390625,
                        "z": 365.4530029296875
                    },
                    "rotation": {
                        "roll": -0.02514648623764515,
                        "pitch": 0.5859209299087524,
                        "yaw": -0.6165770888328552
                    }
                },
                "velocity": {
                    "x": 4.838723182678223,
                    "y": -0.024351514875888824,
                    "z": 0.00205714232288301
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.365799427032471,
                "transform": {
                    "location": {
                        "x": 206.63584899902344,
                        "y": 5586.7802734375,
                        "z": 365.49310302734375
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": 0.13204121589660645,
                        "yaw": -0.1933898776769638
                    }
                },
                "velocity": {
                    "x": 4.365781784057617,
                    "y": -0.012208109721541405,
                    "z": 0.0023573110811412334
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.22998389601707458,
        "expert_target_speed": 10.0,
        "target_point": [
            43.973991334516995,
            -2.381421934808961
        ],
        "target_point_next": [
            44.972670817426085,
            -2.4328539373065468
        ]
    },
    "625": {
        "acceleration": [
            -0.37148475646972656,
            0.18754899501800537,
            0.016411971300840378
        ],
        "angular_velocity": [
            0.051337581127882004,
            0.09698840230703354,
            -2.3822474479675293
        ],
        "forward_vector": [
            -0.9992510080337524,
            -0.038697026669979095,
            5.20944558957126e-05
        ],
        "right_vector": [
            0.03869692608714104,
            -0.9992501735687256,
            -0.0013124117394909263
        ],
        "location": [
            200.49429321289062,
            5580.03125,
            365.4515075683594
        ],
        "rotation": [
            0.07519567757844925,
            0.002984792459756136,
            -177.7822723388672
        ],
        "velocity": [
            -4.9547119140625,
            -0.13367822766304016,
            -0.0013032054994255304
        ],
        "speed": 4.956514906656088,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 84.69475555419922,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.736482620239258,
                "transform": {
                    "location": {
                        "x": 214.19015502929688,
                        "y": 5541.12939453125,
                        "z": 365.7337341308594
                    },
                    "rotation": {
                        "roll": 0.019241200760006905,
                        "pitch": -0.39343252778053284,
                        "yaw": 88.45447540283203
                    }
                },
                "velocity": {
                    "x": 0.2634870707988739,
                    "y": 9.732573509216309,
                    "z": -0.08168922364711761
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.554621696472168,
                "transform": {
                    "location": {
                        "x": 214.77687072753906,
                        "y": 5561.013671875,
                        "z": 365.57611083984375
                    },
                    "rotation": {
                        "roll": -0.0005188088398426771,
                        "pitch": -0.6619272828102112,
                        "yaw": 88.27999114990234
                    }
                },
                "velocity": {
                    "x": 0.16671276092529297,
                    "y": 5.551954746246338,
                    "z": -0.04274943098425865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.342998504638672,
                "transform": {
                    "location": {
                        "x": 215.39288330078125,
                        "y": 5585.4365234375,
                        "z": 365.3790588378906
                    },
                    "rotation": {
                        "roll": -0.024780254811048508,
                        "pitch": -0.26440343260765076,
                        "yaw": 89.24251556396484
                    }
                },
                "velocity": {
                    "x": 0.1296665072441101,
                    "y": 11.341914176940918,
                    "z": -0.08818183094263077
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3788593113422394,
                "transform": {
                    "location": {
                        "x": 174.79905700683594,
                        "y": 5586.814453125,
                        "z": 365.66217041015625
                    },
                    "rotation": {
                        "roll": -0.005340575240552425,
                        "pitch": -0.8161938786506653,
                        "yaw": 0.26984599232673645
                    }
                },
                "velocity": {
                    "x": 0.3788336515426636,
                    "y": 0.0001347278303001076,
                    "z": -0.004408025648444891
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.05807353928685188,
                "transform": {
                    "location": {
                        "x": 185.16358947753906,
                        "y": 5586.82421875,
                        "z": 365.5602722167969
                    },
                    "rotation": {
                        "roll": 0.0004798504232894629,
                        "pitch": -0.6623507142066956,
                        "yaw": -0.12194821983575821
                    }
                },
                "velocity": {
                    "x": 0.05806708335876465,
                    "y": -0.000703913567122072,
                    "z": 0.0005042266566306353
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1303365230560303,
                "transform": {
                    "location": {
                        "x": 184.0027313232422,
                        "y": 5583.572265625,
                        "z": 365.5320129394531
                    },
                    "rotation": {
                        "roll": 0.0011212652316316962,
                        "pitch": -0.6551175713539124,
                        "yaw": -0.2207336276769638
                    }
                },
                "velocity": {
                    "x": 2.1302437782287598,
                    "y": -0.0022189244627952576,
                    "z": -0.01975555345416069
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.593249797821045,
                "transform": {
                    "location": {
                        "x": 195.59616088867188,
                        "y": 5583.5546875,
                        "z": 365.4606628417969
                    },
                    "rotation": {
                        "roll": -0.0008544920128770173,
                        "pitch": 0.029936717823147774,
                        "yaw": -0.1089477390050888
                    }
                },
                "velocity": {
                    "x": 3.5932278633117676,
                    "y": -0.0069085219874978065,
                    "z": -0.010488471947610378
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7427682876586914,
                "transform": {
                    "location": {
                        "x": 195.95367431640625,
                        "y": 5586.8056640625,
                        "z": 365.4514465332031
                    },
                    "rotation": {
                        "roll": 0.00011082377750426531,
                        "pitch": -0.04346049204468727,
                        "yaw": -0.1480407863855362
                    }
                },
                "velocity": {
                    "x": 2.7427546977996826,
                    "y": -0.0070570968091487885,
                    "z": -0.0050241947174072266
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.582969903945923,
                "transform": {
                    "location": {
                        "x": 206.79139709472656,
                        "y": 5583.53369140625,
                        "z": 365.4559020996094
                    },
                    "rotation": {
                        "roll": -0.010650633834302425,
                        "pitch": -0.0408923402428627,
                        "yaw": -0.4309691786766052
                    }
                },
                "velocity": {
                    "x": 3.5829427242279053,
                    "y": -0.013889048248529434,
                    "z": 0.0016976832412183285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.971122980117798,
                "transform": {
                    "location": {
                        "x": 207.5465545654297,
                        "y": 5586.77783203125,
                        "z": 365.49530029296875
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.0516362264752388,
                        "yaw": -0.1730346530675888
                    }
                },
                "velocity": {
                    "x": 2.9711122512817383,
                    "y": -0.007899219170212746,
                    "z": 0.0013566302368417382
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.25086691975593567,
        "expert_target_speed": 10.0,
        "target_point": [
            42.7684955852187,
            -1.921593922900172
        ],
        "target_point_next": [
            43.76765209548313,
            -1.9627306274436704
        ]
    },
    "630": {
        "acceleration": [
            0.04311561584472656,
            -0.018749237060546875,
            0.0015747081488370895
        ],
        "angular_velocity": [
            -0.22700612246990204,
            0.1364000290632248,
            -1.1814961433410645
        ],
        "forward_vector": [
            -0.9995267391204834,
            -0.030754150822758675,
            0.0006914137629792094
        ],
        "right_vector": [
            0.03075365163385868,
            -0.9995267391204834,
            -0.0007225750014185905
        ],
        "location": [
            199.2459259033203,
            5579.99853515625,
            365.451904296875
        ],
        "rotation": [
            0.04140051081776619,
            0.039615094661712646,
            -178.23764038085938
        ],
        "velocity": [
            -5.010166645050049,
            -0.12350375205278397,
            0.005238780751824379
        ],
        "speed": 5.011688636372293,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 83.44666290283203,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5115,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.65647029876709,
                "transform": {
                    "location": {
                        "x": 214.25303649902344,
                        "y": 5543.4228515625,
                        "z": 365.7174377441406
                    },
                    "rotation": {
                        "roll": 0.009020072408020496,
                        "pitch": -0.7412120699882507,
                        "yaw": 88.35822296142578
                    }
                },
                "velocity": {
                    "x": 0.24552063643932343,
                    "y": 8.652688026428223,
                    "z": -0.0719788447022438
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5114,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.3192291259765625,
                "transform": {
                    "location": {
                        "x": 214.81695556640625,
                        "y": 5562.373046875,
                        "z": 365.5643310546875
                    },
                    "rotation": {
                        "roll": -0.000854500918649137,
                        "pitch": -0.5080226063728333,
                        "yaw": 88.27774047851562
                    }
                },
                "velocity": {
                    "x": 0.15994197130203247,
                    "y": 5.3166632652282715,
                    "z": -0.041353143751621246
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5113,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.615567207336426,
                "transform": {
                    "location": {
                        "x": 215.4176483154297,
                        "y": 5588.453125,
                        "z": 365.35797119140625
                    },
                    "rotation": {
                        "roll": -0.0337219163775444,
                        "pitch": -0.21508264541625977,
                        "yaw": 89.6557846069336
                    }
                },
                "velocity": {
                    "x": 0.0795958936214447,
                    "y": 12.615009307861328,
                    "z": -0.08796887844800949
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.253068447113037,
                "transform": {
                    "location": {
                        "x": 175.0078887939453,
                        "y": 5586.81494140625,
                        "z": 365.6597900390625
                    },
                    "rotation": {
                        "roll": -0.006378173828125,
                        "pitch": -0.8659996390342712,
                        "yaw": 0.27886146306991577
                    }
                },
                "velocity": {
                    "x": 1.2529394626617432,
                    "y": 0.005587306339293718,
                    "z": -0.01708989031612873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9456899762153625,
                "transform": {
                    "location": {
                        "x": 185.29429626464844,
                        "y": 5586.82421875,
                        "z": 365.5578308105469
                    },
                    "rotation": {
                        "roll": 0.0010393023258075118,
                        "pitch": -0.5315253138542175,
                        "yaw": -0.115081787109375
                    }
                },
                "velocity": {
                    "x": 0.9456366300582886,
                    "y": -0.0007270195055752993,
                    "z": -0.010019874200224876
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8315727710723877,
                "transform": {
                    "location": {
                        "x": 184.5167999267578,
                        "y": 5583.5712890625,
                        "z": 365.5269775390625
                    },
                    "rotation": {
                        "roll": -0.0003967283992096782,
                        "pitch": -0.636416494846344,
                        "yaw": -0.17776484787464142
                    }
                },
                "velocity": {
                    "x": 1.8314886093139648,
                    "y": -0.0015477448469027877,
                    "z": -0.017480401322245598
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6141128540039062,
                "transform": {
                    "location": {
                        "x": 196.443359375,
                        "y": 5583.55224609375,
                        "z": 365.4587707519531
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": -0.039888303726911545,
                        "yaw": -0.11395261436700821
                    }
                },
                "velocity": {
                    "x": 3.6141014099121094,
                    "y": -0.00722765177488327,
                    "z": -0.005538186989724636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.3392257690429688,
                "transform": {
                    "location": {
                        "x": 196.71414184570312,
                        "y": 5586.8037109375,
                        "z": 365.4504699707031
                    },
                    "rotation": {
                        "roll": 0.00014353303413372487,
                        "pitch": -0.04336486756801605,
                        "yaw": -0.1486511081457138
                    }
                },
                "velocity": {
                    "x": 3.3392133712768555,
                    "y": -0.008670348674058914,
                    "z": -0.00272368430159986
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.400825023651123,
                "transform": {
                    "location": {
                        "x": 207.51046752929688,
                        "y": 5583.5302734375,
                        "z": 365.4576110839844
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": -0.3760087192058563,
                        "yaw": -0.34552001953125
                    }
                },
                "velocity": {
                    "x": 2.4008102416992188,
                    "y": -0.008180564269423485,
                    "z": 0.002182216616347432
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0069766053929924965,
                "transform": {
                    "location": {
                        "x": 208.0196075439453,
                        "y": 5586.7763671875,
                        "z": 365.4972229003906
                    },
                    "rotation": {
                        "roll": 0.011315238662064075,
                        "pitch": -0.22183087468147278,
                        "yaw": -0.1047973558306694
                    }
                },
                "velocity": {
                    "x": 0.006709747016429901,
                    "y": -5.3463671065401286e-05,
                    "z": 0.001910356106236577
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.27517494559288025,
        "expert_target_speed": 10.0,
        "target_point": [
            41.53363435439697,
            -1.5759232088248465
        ],
        "target_point_next": [
            42.53308625460549,
            -1.6091174799277714
        ]
    },
    "635": {
        "acceleration": [
            0.06464958190917969,
            0.06324395537376404,
            0.08463917672634125
        ],
        "angular_velocity": [
            -0.04867798089981079,
            -0.027332574129104614,
            2.2932112216949463
        ],
        "forward_vector": [
            -0.9996833801269531,
            -0.02513204887509346,
            0.0012224907986819744
        ],
        "right_vector": [
            0.025131210684776306,
            -0.9996839165687561,
            -0.0006972158444114029
        ],
        "location": [
            197.994140625,
            5579.97119140625,
            365.45245361328125
        ],
        "rotation": [
            0.03994755819439888,
            0.07004358619451523,
            -178.5598907470703
        ],
        "velocity": [
            -4.989021301269531,
            -0.09408561140298843,
            0.003063211450353265
        ],
        "speed": 4.989908380601211,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 82.19513702392578,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 156.6991424560547,
                        "y": 5586.798828125,
                        "z": 366.29901123046875
                    },
                    "rotation": {
                        "roll": 1.0423156782124465e-10,
                        "pitch": -0.8383442163467407,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 156.6913299560547,
                        "y": 5583.548828125,
                        "z": 366.29901123046875
                    },
                    "rotation": {
                        "roll": 1.0423156782124465e-10,
                        "pitch": -0.8383442163467407,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0018803359707817435,
                "transform": {
                    "location": {
                        "x": 175.28163146972656,
                        "y": 5586.81591796875,
                        "z": 365.65460205078125
                    },
                    "rotation": {
                        "roll": -0.005249022506177425,
                        "pitch": -0.6975398659706116,
                        "yaw": 0.2678545117378235
                    }
                },
                "velocity": {
                    "x": 0.0016726694302633405,
                    "y": 0.0001331198145635426,
                    "z": 0.0008485986036248505
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7261466979980469,
                "transform": {
                    "location": {
                        "x": 185.62803649902344,
                        "y": 5586.82373046875,
                        "z": 365.5541687011719
                    },
                    "rotation": {
                        "roll": 0.0002485945587977767,
                        "pitch": -0.47906944155693054,
                        "yaw": -0.10165403038263321
                    }
                },
                "velocity": {
                    "x": 1.7260634899139404,
                    "y": -0.0018787775188684464,
                    "z": -0.01684304140508175
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.217576742172241,
                "transform": {
                    "location": {
                        "x": 185.0349884033203,
                        "y": 5583.5712890625,
                        "z": 365.5216064453125
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": -0.590633749961853,
                        "yaw": -0.1450500190258026
                    }
                },
                "velocity": {
                    "x": 2.217468023300171,
                    "y": -0.0019511242862790823,
                    "z": -0.02186747081577778
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.2276744842529297,
                "transform": {
                    "location": {
                        "x": 197.35655212402344,
                        "y": 5583.55029296875,
                        "z": 365.4577331542969
                    },
                    "rotation": {
                        "roll": 0.000779477006290108,
                        "pitch": -0.11645472049713135,
                        "yaw": -0.11163327842950821
                    }
                },
                "velocity": {
                    "x": 3.2276668548583984,
                    "y": -0.0064963120967149734,
                    "z": -0.0026956365909427404
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.198547601699829,
                "transform": {
                    "location": {
                        "x": 197.57960510253906,
                        "y": 5586.8017578125,
                        "z": 365.4497985839844
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.06469555199146271,
                        "yaw": -0.1488647311925888
                    }
                },
                "velocity": {
                    "x": 3.1985366344451904,
                    "y": -0.008274014107882977,
                    "z": -0.0015434932429343462
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.8218395709991455,
                "transform": {
                    "location": {
                        "x": 208.1365509033203,
                        "y": 5583.52783203125,
                        "z": 365.4535827636719
                    },
                    "rotation": {
                        "roll": 2.3637448975932784e-05,
                        "pitch": -0.2085871398448944,
                        "yaw": -0.3024291694164276
                    }
                },
                "velocity": {
                    "x": 2.821720600128174,
                    "y": -0.009696233086287975,
                    "z": -0.024017328396439552
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.04873700067400932,
                "transform": {
                    "location": {
                        "x": 208.0235137939453,
                        "y": 5586.7763671875,
                        "z": 365.4957580566406
                    },
                    "rotation": {
                        "roll": -0.00372314453125,
                        "pitch": -0.06482531875371933,
                        "yaw": -0.1036376804113388
                    }
                },
                "velocity": {
                    "x": 0.04868561029434204,
                    "y": -0.0012685322435572743,
                    "z": -0.0018432425567880273
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2875860631465912,
        "expert_target_speed": 10.0,
        "target_point": [
            40.28976312238406,
            -1.3381966791305668
        ],
        "target_point_next": [
            41.28938589517722,
            -1.3657697199093217
        ]
    },
    "640": {
        "acceleration": [
            1.1025524139404297,
            0.07235050201416016,
            0.028133587911725044
        ],
        "angular_velocity": [
            -0.027881061658263206,
            -0.3163353502750397,
            -0.8043515086174011
        ],
        "forward_vector": [
            -0.9997872114181519,
            -0.020614024251699448,
            0.0007734297541901469
        ],
        "right_vector": [
            0.020613649860024452,
            -0.9997873902320862,
            -0.000489882891997695
        ],
        "location": [
            196.7578887939453,
            5579.9482421875,
            365.4533386230469
        ],
        "rotation": [
            0.028068233281373978,
            0.04431426525115967,
            -178.81881713867188
        ],
        "velocity": [
            -4.85249662399292,
            -0.08024846762418747,
            0.006052255630493164
        ],
        "speed": 4.853160135666112,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 80.9591293334961,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1682873964309692,
                "transform": {
                    "location": {
                        "x": 156.6981964111328,
                        "y": 5586.798828125,
                        "z": 365.9097900390625
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": -0.8429272770881653,
                        "yaw": -0.1376037448644638
                    }
                },
                "velocity": {
                    "x": -0.016948392614722252,
                    "y": -7.59365429985337e-05,
                    "z": -1.1681643724441528
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4609816074371338,
                "transform": {
                    "location": {
                        "x": 156.689208984375,
                        "y": 5583.548828125,
                        "z": 365.92236328125
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.8438425064086914,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": -0.021372336894273758,
                    "y": 0.00010220857075182721,
                    "z": -1.4608252048492432
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5769031047821045,
                "transform": {
                    "location": {
                        "x": 175.32850646972656,
                        "y": 5586.81591796875,
                        "z": 365.6547546386719
                    },
                    "rotation": {
                        "roll": -0.005859375,
                        "pitch": -0.7900069355964661,
                        "yaw": 0.2965657711029053
                    }
                },
                "velocity": {
                    "x": 0.5768135190010071,
                    "y": 0.005114227999001741,
                    "z": -0.008785934187471867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.7915971279144287,
                "transform": {
                    "location": {
                        "x": 186.1912384033203,
                        "y": 5586.822265625,
                        "z": 365.54815673828125
                    },
                    "rotation": {
                        "roll": 0.0005800786893814802,
                        "pitch": -0.4136635661125183,
                        "yaw": -0.0849914401769638
                    }
                },
                "velocity": {
                    "x": 2.7914681434631348,
                    "y": -0.004288573283702135,
                    "z": -0.026485556736588478
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.969225287437439,
                "transform": {
                    "location": {
                        "x": 185.5213165283203,
                        "y": 5583.5703125,
                        "z": 365.5165100097656
                    },
                    "rotation": {
                        "roll": -0.00140380859375,
                        "pitch": -0.5639960169792175,
                        "yaw": -0.1213989183306694
                    }
                },
                "velocity": {
                    "x": 1.9691325426101685,
                    "y": -0.0014558362308889627,
                    "z": -0.019062424078583717
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6714282035827637,
                "transform": {
                    "location": {
                        "x": 198.04367065429688,
                        "y": 5583.54931640625,
                        "z": 365.4574279785156
                    },
                    "rotation": {
                        "roll": 0.00012005053577013314,
                        "pitch": -0.16253800690174103,
                        "yaw": -0.1210937350988388
                    }
                },
                "velocity": {
                    "x": 2.6714203357696533,
                    "y": -0.006265155505388975,
                    "z": -0.0015698623610660434
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4160646200180054,
                "transform": {
                    "location": {
                        "x": 198.20748901367188,
                        "y": 5586.7998046875,
                        "z": 365.4500427246094
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.08944815397262573,
                        "yaw": -0.14349365234375
                    }
                },
                "velocity": {
                    "x": 1.4160597324371338,
                    "y": -0.0036159043665975332,
                    "z": -0.0008816241752356291
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.165472984313965,
                "transform": {
                    "location": {
                        "x": 209.013427734375,
                        "y": 5583.525390625,
                        "z": 365.4456481933594
                    },
                    "rotation": {
                        "roll": -0.0019836423452943563,
                        "pitch": -0.05389701947569847,
                        "yaw": -0.2486877590417862
                    }
                },
                "velocity": {
                    "x": 4.165315628051758,
                    "y": -0.012539093382656574,
                    "z": -0.03399171307682991
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8520877361297607,
                "transform": {
                    "location": {
                        "x": 208.13116455078125,
                        "y": 5586.7763671875,
                        "z": 365.49407958984375
                    },
                    "rotation": {
                        "roll": -0.045440673828125,
                        "pitch": 0.0623459629714489,
                        "yaw": -0.1470031887292862
                    }
                },
                "velocity": {
                    "x": 0.8520717620849609,
                    "y": -0.00472540408372879,
                    "z": -0.002213878557085991
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3072395622730255,
        "expert_target_speed": 10.0,
        "target_point": [
            39.058937348751655,
            -1.1535556423237099
        ],
        "target_point_next": [
            40.05867452754564,
            -1.1766106591641827
        ]
    },
    "645": {
        "acceleration": [
            1.0956287384033203,
            0.007578730583190918,
            0.06323890388011932
        ],
        "angular_velocity": [
            -0.06675463169813156,
            0.13413432240486145,
            -0.5331727266311646
        ],
        "forward_vector": [
            -0.9998461008071899,
            -0.017544474452733994,
            -0.00010979174840031192
        ],
        "right_vector": [
            0.017544515430927277,
            -0.9998460412025452,
            -0.0003938673180527985
        ],
        "location": [
            195.5836639404297,
            5579.92919921875,
            365.4554748535156
        ],
        "rotation": [
            0.022566935047507286,
            -0.006290603894740343,
            -178.99472045898438
        ],
        "velocity": [
            -4.560435771942139,
            -0.06614875048398972,
            0.013011808507144451
        ],
        "speed": 4.56091548783795,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 79.78511047363281,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.1489333212375641,
                "transform": {
                    "location": {
                        "x": 156.69764709472656,
                        "y": 5586.798828125,
                        "z": 365.8868713378906
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -0.8445733189582825,
                        "yaw": -0.13763427734375
                    }
                },
                "velocity": {
                    "x": 0.002172020962461829,
                    "y": -0.00011354849266353995,
                    "z": 0.14891743659973145
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.27247798442840576,
                "transform": {
                    "location": {
                        "x": 156.68765258789062,
                        "y": 5583.548828125,
                        "z": 365.8221435546875
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -0.8466429114341736,
                        "yaw": -0.1376953125
                    }
                },
                "velocity": {
                    "x": 0.004014335107058287,
                    "y": -8.34399979794398e-05,
                    "z": 0.2724483907222748
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4301789999008179,
                "transform": {
                    "location": {
                        "x": 175.58460998535156,
                        "y": 5586.8173828125,
                        "z": 365.6517639160156
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.8652961254119873,
                        "yaw": 0.2721155881881714
                    }
                },
                "velocity": {
                    "x": 1.4300267696380615,
                    "y": 0.006106840446591377,
                    "z": -0.01996111311018467
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.134080410003662,
                "transform": {
                    "location": {
                        "x": 187.0712432861328,
                        "y": 5586.8212890625,
                        "z": 365.53924560546875
                    },
                    "rotation": {
                        "roll": 0.0016464218497276306,
                        "pitch": -0.3335249423980713,
                        "yaw": -0.0930175632238388
                    }
                },
                "velocity": {
                    "x": 4.133933067321777,
                    "y": -0.006446451880037785,
                    "z": -0.03430682048201561
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9064326286315918,
                "transform": {
                    "location": {
                        "x": 186.0446014404297,
                        "y": 5583.5703125,
                        "z": 365.51116943359375
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.5260338187217712,
                        "yaw": -0.1033935397863388
                    }
                },
                "velocity": {
                    "x": 1.906332015991211,
                    "y": -0.003051925450563431,
                    "z": -0.019341524690389633
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.962282657623291,
                "transform": {
                    "location": {
                        "x": 198.8625030517578,
                        "y": 5583.54736328125,
                        "z": 365.45721435546875
                    },
                    "rotation": {
                        "roll": 0.0005722482455894351,
                        "pitch": 0.15055102109909058,
                        "yaw": -0.123260498046875
                    }
                },
                "velocity": {
                    "x": 3.9622738361358643,
                    "y": -0.008335217833518982,
                    "z": -0.001038837363012135
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.24073491990566254,
                "transform": {
                    "location": {
                        "x": 198.25546264648438,
                        "y": 5586.7998046875,
                        "z": 365.4500427246094
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.08865585178136826,
                        "yaw": -0.1711425930261612
                    }
                },
                "velocity": {
                    "x": 0.2407347559928894,
                    "y": -0.0002516775857657194,
                    "z": 0.00010618209489621222
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.342098712921143,
                "transform": {
                    "location": {
                        "x": 210.2216339111328,
                        "y": 5583.52099609375,
                        "z": 365.4371337890625
                    },
                    "rotation": {
                        "roll": -0.0038146967999637127,
                        "pitch": -0.268679141998291,
                        "yaw": -0.2064208835363388
                    }
                },
                "velocity": {
                    "x": 5.341929912567139,
                    "y": -0.015490350313484669,
                    "z": -0.0395604744553566
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5881128311157227,
                "transform": {
                    "location": {
                        "x": 208.4403076171875,
                        "y": 5586.77490234375,
                        "z": 365.4930419921875
                    },
                    "rotation": {
                        "roll": -0.1489868015050888,
                        "pitch": 0.0512264147400856,
                        "yaw": -0.1372680515050888
                    }
                },
                "velocity": {
                    "x": 1.5880814790725708,
                    "y": -0.008259350433945656,
                    "z": -0.005605907179415226
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3198156952857971,
        "expert_target_speed": 10.0,
        "target_point": [
            37.88791634965929,
            -1.0320827208119574
        ],
        "target_point_next": [
            38.88771959359027,
            -1.0520685630405517
        ]
    },
    "650": {
        "acceleration": [
            0.30808448791503906,
            0.02547234296798706,
            0.00034771859645843506
        ],
        "angular_velocity": [
            0.02562081813812256,
            0.5148978233337402,
            -0.08914700895547867
        ],
        "forward_vector": [
            -0.9998688101768494,
            -0.01612439751625061,
            0.0015454285312443972
        ],
        "right_vector": [
            0.016124112531542778,
            -0.9998700022697449,
            -0.00019656516087707132
        ],
        "location": [
            194.46624755859375,
            5579.91259765625,
            365.458984375
        ],
        "rotation": [
            0.011262367479503155,
            0.08854656666517258,
            -179.0760955810547
        ],
        "velocity": [
            -4.409865856170654,
            -0.06362124532461166,
            0.014646530151367188
        ],
        "speed": 4.410324764943778,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 78.66787719726562,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.6086738109588623,
                "transform": {
                    "location": {
                        "x": 156.884765625,
                        "y": 5586.7998046875,
                        "z": 365.9062805175781
                    },
                    "rotation": {
                        "roll": -0.010040283203125,
                        "pitch": -0.5953943729400635,
                        "yaw": -0.0613403394818306
                    }
                },
                "velocity": {
                    "x": 1.6085517406463623,
                    "y": 0.010025200434029102,
                    "z": 0.0170904528349638
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4446192979812622,
                "transform": {
                    "location": {
                        "x": 156.7098388671875,
                        "y": 5583.548828125,
                        "z": 365.91070556640625
                    },
                    "rotation": {
                        "roll": -0.0027770993765443563,
                        "pitch": -0.8031550645828247,
                        "yaw": -0.11343381553888321
                    }
                },
                "velocity": {
                    "x": 0.36069631576538086,
                    "y": 0.00253473361954093,
                    "z": 0.25995782017707825
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2196571826934814,
                "transform": {
                    "location": {
                        "x": 176.0460968017578,
                        "y": 5586.81982421875,
                        "z": 365.6454162597656
                    },
                    "rotation": {
                        "roll": -0.005279540549963713,
                        "pitch": -0.8732601404190063,
                        "yaw": 0.2644265294075012
                    }
                },
                "velocity": {
                    "x": 2.2194271087646484,
                    "y": 0.00935092568397522,
                    "z": -0.030564192682504654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.2601606845855713,
                "transform": {
                    "location": {
                        "x": 188.02874755859375,
                        "y": 5586.8193359375,
                        "z": 365.5329284667969
                    },
                    "rotation": {
                        "roll": -0.000823974609375,
                        "pitch": -0.5075376629829407,
                        "yaw": -0.0913085788488388
                    }
                },
                "velocity": {
                    "x": 3.2600362300872803,
                    "y": -0.0054778968915343285,
                    "z": -0.02796420454978943
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.16149640083313,
                "transform": {
                    "location": {
                        "x": 186.53836059570312,
                        "y": 5583.5693359375,
                        "z": 365.5060119628906
                    },
                    "rotation": {
                        "roll": -0.0007019041804596782,
                        "pitch": -0.4832426905632019,
                        "yaw": -0.1017455980181694
                    }
                },
                "velocity": {
                    "x": 2.161393165588379,
                    "y": -0.003786398796364665,
                    "z": -0.020791921764612198
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.657707452774048,
                "transform": {
                    "location": {
                        "x": 199.87445068359375,
                        "y": 5583.544921875,
                        "z": 365.4568786621094
                    },
                    "rotation": {
                        "roll": 0.0006278844666667283,
                        "pitch": 0.015012755058705807,
                        "yaw": -0.125091552734375
                    }
                },
                "velocity": {
                    "x": 3.6576976776123047,
                    "y": -0.008109008893370628,
                    "z": -0.002242069225758314
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8298675417900085,
                "transform": {
                    "location": {
                        "x": 198.3883514404297,
                        "y": 5586.7998046875,
                        "z": 365.44940185546875
                    },
                    "rotation": {
                        "roll": -6.103516352595761e-05,
                        "pitch": -0.024260830134153366,
                        "yaw": -0.185546875
                    }
                },
                "velocity": {
                    "x": 0.8298643231391907,
                    "y": -0.0022721795830875635,
                    "z": 0.0003125762741547078
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.832595348358154,
                "transform": {
                    "location": {
                        "x": 211.56570434570312,
                        "y": 5583.517578125,
                        "z": 365.42218017578125
                    },
                    "rotation": {
                        "roll": 0.0054971929639577866,
                        "pitch": -0.6077843308448792,
                        "yaw": -0.166900634765625
                    }
                },
                "velocity": {
                    "x": 5.832029342651367,
                    "y": -0.014545230194926262,
                    "z": -0.07994961738586426
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.573470115661621,
                "transform": {
                    "location": {
                        "x": 208.954833984375,
                        "y": 5586.7734375,
                        "z": 365.4908752441406
                    },
                    "rotation": {
                        "roll": -0.2496643215417862,
                        "pitch": -0.022368868812918663,
                        "yaw": -0.13751220703125
                    }
                },
                "velocity": {
                    "x": 2.5733697414398193,
                    "y": -0.006697873119264841,
                    "z": -0.021709173917770386
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3398705720901489,
        "expert_target_speed": 10.0,
        "target_point": [
            36.77180539470024,
            -0.9768435988615498
        ],
        "target_point_next": [
            37.77163601976002,
            -0.9954092030012064
        ]
    },
    "655": {
        "acceleration": [
            -0.12228012084960938,
            0.019221827387809753,
            0.0016305968165397644
        ],
        "angular_velocity": [
            -0.03125732019543648,
            0.535969614982605,
            -0.49053364992141724
        ],
        "forward_vector": [
            -0.9998826384544373,
            -0.014808866195380688,
            0.003919829614460468
        ],
        "right_vector": [
            0.014808228239417076,
            -0.9998903274536133,
            -0.0001917878253152594
        ],
        "location": [
            193.36468505859375,
            5579.89697265625,
            365.46221923828125
        ],
        "rotation": [
            0.010988716967403889,
            0.2245902717113495,
            -179.15147399902344
        ],
        "velocity": [
            -4.40817403793335,
            -0.058031730353832245,
            0.01363794319331646
        ],
        "speed": 4.408556002869587,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 77.5665054321289,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 208.4755401611328,
                        "y": 5576.92431640625,
                        "z": 365.8468017578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03673958405852318,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.9941565990448,
                "transform": {
                    "location": {
                        "x": 157.4660186767578,
                        "y": 5586.8037109375,
                        "z": 365.90234375
                    },
                    "rotation": {
                        "roll": -0.00979614071547985,
                        "pitch": -0.551086962223053,
                        "yaw": 0.07772287726402283
                    }
                },
                "velocity": {
                    "x": 2.9938690662384033,
                    "y": 0.019064361229538918,
                    "z": -0.03685445338487625
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8643283247947693,
                "transform": {
                    "location": {
                        "x": 156.8797607421875,
                        "y": 5583.54931640625,
                        "z": 365.9298095703125
                    },
                    "rotation": {
                        "roll": -0.005035399924963713,
                        "pitch": -0.7011393904685974,
                        "yaw": -0.07037353515625
                    }
                },
                "velocity": {
                    "x": 0.8632450699806213,
                    "y": 0.007093856576830149,
                    "z": -0.04267406463623047
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.439194679260254,
                "transform": {
                    "location": {
                        "x": 176.5546875,
                        "y": 5586.8203125,
                        "z": 365.6374816894531
                    },
                    "rotation": {
                        "roll": -0.004638671409338713,
                        "pitch": -0.7554872035980225,
                        "yaw": 0.14040839672088623
                    }
                },
                "velocity": {
                    "x": 1.439049482345581,
                    "y": -0.005197261925786734,
                    "z": -0.019766420125961304
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.044143557548523,
                "transform": {
                    "location": {
                        "x": 188.64358520507812,
                        "y": 5586.81884765625,
                        "z": 365.5292053222656
                    },
                    "rotation": {
                        "roll": 0.00024091410159599036,
                        "pitch": -0.6454733610153198,
                        "yaw": -0.1397705078125
                    }
                },
                "velocity": {
                    "x": 1.0441176891326904,
                    "y": -0.0030817463994026184,
                    "z": -0.00666777603328228
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9095302820205688,
                "transform": {
                    "location": {
                        "x": 187.03062438964844,
                        "y": 5583.56884765625,
                        "z": 365.5015869140625
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": -0.48268944025039673,
                        "yaw": -0.100189208984375
                    }
                },
                "velocity": {
                    "x": 1.9094634056091309,
                    "y": -0.0027904557064175606,
                    "z": -0.015731725841760635
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.174073219299316,
                "transform": {
                    "location": {
                        "x": 200.81202697753906,
                        "y": 5583.54296875,
                        "z": 365.4566345214844
                    },
                    "rotation": {
                        "roll": 0.0012755750212818384,
                        "pitch": 0.10720664262771606,
                        "yaw": -0.1303405910730362
                    }
                },
                "velocity": {
                    "x": 4.174062252044678,
                    "y": -0.009354779496788979,
                    "z": 0.0012301349779590964
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3158529996871948,
                "transform": {
                    "location": {
                        "x": 198.657958984375,
                        "y": 5586.798828125,
                        "z": 365.44927978515625
                    },
                    "rotation": {
                        "roll": 0.00021572085097432137,
                        "pitch": -0.009855962358415127,
                        "yaw": -0.1502380520105362
                    }
                },
                "velocity": {
                    "x": 1.3158472776412964,
                    "y": -0.003839910728856921,
                    "z": 0.0006599616608582437
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.624107360839844,
                "transform": {
                    "location": {
                        "x": 213.25741577148438,
                        "y": 5583.51318359375,
                        "z": 365.4002990722656
                    },
                    "rotation": {
                        "roll": 0.29458171129226685,
                        "pitch": 0.014650754630565643,
                        "yaw": -0.13397216796875
                    }
                },
                "velocity": {
                    "x": 7.623849391937256,
                    "y": -0.008848932571709156,
                    "z": -0.062074821442365646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.982501983642578,
                "transform": {
                    "location": {
                        "x": 209.77780151367188,
                        "y": 5586.77099609375,
                        "z": 365.48541259765625
                    },
                    "rotation": {
                        "roll": -0.2388915866613388,
                        "pitch": -0.21615497767925262,
                        "yaw": -0.14801025390625
                    }
                },
                "velocity": {
                    "x": 3.9823379516601562,
                    "y": -0.011409297585487366,
                    "z": -0.0343254990875721
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.35425615310668945,
        "expert_target_speed": 10.0,
        "target_point": [
            35.671385607509855,
            -0.9277761716601676
        ],
        "target_point_next": [
            36.67123979210807,
            -0.9450263892218376
        ]
    },
    "660": {
        "acceleration": [
            -0.20752906799316406,
            -0.01860588788986206,
            0.001429915428161621
        ],
        "angular_velocity": [
            0.0023644310422241688,
            0.07531335949897766,
            -0.04234906658530235
        ],
        "forward_vector": [
            -0.9998945593833923,
            -0.013602766208350658,
            0.005084730684757233
        ],
        "right_vector": [
            0.013601919636130333,
            -0.9999074935913086,
            -0.00020111683988943696
        ],
        "location": [
            192.25656127929688,
            5579.8828125,
            365.4665832519531
        ],
        "rotation": [
            0.011523295193910599,
            0.291334867477417,
            -179.2205810546875
        ],
        "velocity": [
            -4.453648567199707,
            -0.05485393479466438,
            0.021670769900083542
        ],
        "speed": 4.453986362157215,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 76.45854949951172,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 208.4833526611328,
                        "y": 5580.17431640625,
                        "z": 365.54296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03673958405852318,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4192320108413696,
                "transform": {
                    "location": {
                        "x": 208.4755401611328,
                        "y": 5576.92431640625,
                        "z": 365.4488525390625
                    },
                    "rotation": {
                        "roll": 0.000856118043884635,
                        "pitch": -0.03918479382991791,
                        "yaw": 179.86465454101562
                    }
                },
                "velocity": {
                    "x": 0.0014972888166084886,
                    "y": -0.00021396394004113972,
                    "z": -1.4192311763763428
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.5852131843566895,
                "transform": {
                    "location": {
                        "x": 158.4285125732422,
                        "y": 5586.81005859375,
                        "z": 365.88897705078125
                    },
                    "rotation": {
                        "roll": -0.012084960006177425,
                        "pitch": -0.5141902565956116,
                        "yaw": 0.24143362045288086
                    }
                },
                "velocity": {
                    "x": 4.584630489349365,
                    "y": 0.032906994223594666,
                    "z": -0.06526017934083939
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9369443655014038,
                "transform": {
                    "location": {
                        "x": 157.22804260253906,
                        "y": 5583.55126953125,
                        "z": 365.9104309082031
                    },
                    "rotation": {
                        "roll": -0.008789063431322575,
                        "pitch": -0.6361091136932373,
                        "yaw": 0.05573801323771477
                    }
                },
                "velocity": {
                    "x": 1.9354254007339478,
                    "y": 0.015426657162606716,
                    "z": -0.07512741535902023
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.195624828338623,
                "transform": {
                    "location": {
                        "x": 176.7516326904297,
                        "y": 5586.8212890625,
                        "z": 365.6348876953125
                    },
                    "rotation": {
                        "roll": -0.00238037109375,
                        "pitch": -0.7710531949996948,
                        "yaw": 0.06081207096576691
                    }
                },
                "velocity": {
                    "x": 1.195514440536499,
                    "y": 0.0006463032914325595,
                    "z": -0.016229800879955292
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0017296196892857552,
                "transform": {
                    "location": {
                        "x": 188.6617889404297,
                        "y": 5586.81884765625,
                        "z": 365.5289306640625
                    },
                    "rotation": {
                        "roll": 0.0007777703576721251,
                        "pitch": -0.613002598285675,
                        "yaw": -0.1438903659582138
                    }
                },
                "velocity": {
                    "x": -0.0010410024551674724,
                    "y": -0.00012496857380028814,
                    "z": 0.0013756019761785865
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9537757635116577,
                "transform": {
                    "location": {
                        "x": 187.5477294921875,
                        "y": 5583.5673828125,
                        "z": 365.4973449707031
                    },
                    "rotation": {
                        "roll": -0.0005493162898346782,
                        "pitch": -0.47967731952667236,
                        "yaw": -0.09979248046875
                    }
                },
                "velocity": {
                    "x": 1.9537020921707153,
                    "y": -0.0033735153265297413,
                    "z": -0.016628950834274292
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.347016334533691,
                "transform": {
                    "location": {
                        "x": 202.02671813964844,
                        "y": 5583.5380859375,
                        "z": 365.4578552246094
                    },
                    "rotation": {
                        "roll": 0.007240005768835545,
                        "pitch": 0.2568492591381073,
                        "yaw": -0.2021484225988388
                    }
                },
                "velocity": {
                    "x": 5.346951007843018,
                    "y": -0.02607123553752899,
                    "z": 0.004377593751996756
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8104541301727295,
                "transform": {
                    "location": {
                        "x": 199.0496826171875,
                        "y": 5586.79736328125,
                        "z": 365.44915771484375
                    },
                    "rotation": {
                        "roll": 0.00017555203521624207,
                        "pitch": 0.002561320783570409,
                        "yaw": -0.137908935546875
                    }
                },
                "velocity": {
                    "x": 1.8104478120803833,
                    "y": -0.0047225672751665115,
                    "z": 0.0008051490876823664
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.422616004943848,
                "transform": {
                    "location": {
                        "x": 215.282958984375,
                        "y": 5583.5087890625,
                        "z": 365.3880920410156
                    },
                    "rotation": {
                        "roll": 0.4107382595539093,
                        "pitch": 0.39834344387054443,
                        "yaw": -0.1063232347369194
                    }
                },
                "velocity": {
                    "x": 8.422567367553711,
                    "y": -0.008024733513593674,
                    "z": -0.027572283521294594
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.287797927856445,
                "transform": {
                    "location": {
                        "x": 210.9421844482422,
                        "y": 5586.76806640625,
                        "z": 365.4793395996094
                    },
                    "rotation": {
                        "roll": -0.3187865614891052,
                        "pitch": -0.5077220797538757,
                        "yaw": -0.1596374213695526
                    }
                },
                "velocity": {
                    "x": 5.287550449371338,
                    "y": -0.022511819377541542,
                    "z": -0.045937150716781616
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.36735060811042786,
        "expert_target_speed": 10.0,
        "target_point": [
            34.56426504573423,
            -0.8838268751672596
        ],
        "target_point_next": [
            35.56413931336365,
            -0.8998708583697261
        ]
    },
    "665": {
        "acceleration": [
            -0.17454147338867188,
            -0.017802268266677856,
            0.10390397161245346
        ],
        "angular_velocity": [
            -0.02646576799452305,
            0.23508527874946594,
            -0.061886660754680634
        ],
        "forward_vector": [
            -0.9998911023139954,
            -0.013749596662819386,
            0.0053635574877262115
        ],
        "right_vector": [
            0.013749699108302593,
            -0.9999054670333862,
            -1.7791608115658164e-05
        ],
        "location": [
            191.1363983154297,
            5579.8671875,
            365.4723205566406
        ],
        "rotation": [
            0.0010193987982347608,
            0.30731067061424255,
            -179.21217346191406
        ],
        "velocity": [
            -4.503256797790527,
            -0.06436809152364731,
            0.02712336555123329
        ],
        "speed": 4.503716802603488,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 75.33856201171875,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1542789787054062,
                "transform": {
                    "location": {
                        "x": 208.48077392578125,
                        "y": 5580.17431640625,
                        "z": 365.4180908203125
                    },
                    "rotation": {
                        "roll": 0.003520696423947811,
                        "pitch": 0.20796558260917664,
                        "yaw": 179.86099243164062
                    }
                },
                "velocity": {
                    "x": 0.0013081558281555772,
                    "y": -5.5506581702502444e-05,
                    "z": 0.15427342057228088
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2519077956676483,
                "transform": {
                    "location": {
                        "x": 208.4755401611328,
                        "y": 5576.92431640625,
                        "z": 365.4134826660156
                    },
                    "rotation": {
                        "roll": 0.0014827161794528365,
                        "pitch": -0.0408923402428627,
                        "yaw": 179.86582946777344
                    }
                },
                "velocity": {
                    "x": -0.0002685064682736993,
                    "y": -7.1970907811191864e-06,
                    "z": 0.2519076466560364
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.4114556312561035,
                "transform": {
                    "location": {
                        "x": 159.72586059570312,
                        "y": 5586.81982421875,
                        "z": 365.8705749511719
                    },
                    "rotation": {
                        "roll": -0.01300048828125,
                        "pitch": -0.6282954216003418,
                        "yaw": 0.3915705680847168
                    }
                },
                "velocity": {
                    "x": 5.410727500915527,
                    "y": 0.04361966624855995,
                    "z": -0.0772944912314415
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.49300479888916,
                "transform": {
                    "location": {
                        "x": 157.90570068359375,
                        "y": 5583.5556640625,
                        "z": 365.89459228515625
                    },
                    "rotation": {
                        "roll": -0.013031005859375,
                        "pitch": -0.4858654737472534,
                        "yaw": 0.1859525889158249
                    }
                },
                "velocity": {
                    "x": 3.492553234100342,
                    "y": 0.02804584987461567,
                    "z": -0.048662714660167694
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1274948120117188,
                "transform": {
                    "location": {
                        "x": 177.17140197753906,
                        "y": 5586.8212890625,
                        "z": 365.6298828125
                    },
                    "rotation": {
                        "roll": -0.0027770993765443563,
                        "pitch": -0.8693190813064575,
                        "yaw": 0.05413961783051491
                    }
                },
                "velocity": {
                    "x": 2.1272923946380615,
                    "y": 0.001781160943210125,
                    "z": -0.029277877882122993
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1084093451499939,
                "transform": {
                    "location": {
                        "x": 188.67117309570312,
                        "y": 5586.81884765625,
                        "z": 365.5279235839844
                    },
                    "rotation": {
                        "roll": 0.0006821801653131843,
                        "pitch": -0.48916447162628174,
                        "yaw": -0.14617919921875
                    }
                },
                "velocity": {
                    "x": 0.10840915143489838,
                    "y": 0.00016463604697491974,
                    "z": -0.00012674331082962453
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1087429523468018,
                "transform": {
                    "location": {
                        "x": 188.0222625732422,
                        "y": 5583.56591796875,
                        "z": 365.49334716796875
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.4807974696159363,
                        "yaw": -0.1003723070025444
                    }
                },
                "velocity": {
                    "x": 2.1086618900299072,
                    "y": -0.003788240719586611,
                    "z": -0.0180828757584095
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.048069000244141,
                "transform": {
                    "location": {
                        "x": 203.34327697753906,
                        "y": 5583.53125,
                        "z": 365.4586181640625
                    },
                    "rotation": {
                        "roll": 0.0032161111012101173,
                        "pitch": 0.0457690954208374,
                        "yaw": -0.2549438178539276
                    }
                },
                "velocity": {
                    "x": 5.047998428344727,
                    "y": -0.026589171960949898,
                    "z": 0.0025633524637669325
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3751516342163086,
                "transform": {
                    "location": {
                        "x": 199.57569885253906,
                        "y": 5586.796875,
                        "z": 365.448974609375
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": 0.022635245695710182,
                        "yaw": -0.1316528171300888
                    }
                },
                "velocity": {
                    "x": 2.3751449584960938,
                    "y": -0.00561699690297246,
                    "z": 0.00027361870161257684
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.0814790725708,
                "transform": {
                    "location": {
                        "x": 217.63929748535156,
                        "y": 5583.5048828125,
                        "z": 365.3852233886719
                    },
                    "rotation": {
                        "roll": 0.5301445722579956,
                        "pitch": 0.6853616237640381,
                        "yaw": -0.12377926707267761
                    }
                },
                "velocity": {
                    "x": 10.08145809173584,
                    "y": -0.01882179267704487,
                    "z": 0.008329114876687527
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.859339714050293,
                "transform": {
                    "location": {
                        "x": 212.29061889648438,
                        "y": 5586.7646484375,
                        "z": 365.45269775390625
                    },
                    "rotation": {
                        "roll": 0.15501436591148376,
                        "pitch": -1.2129254341125488,
                        "yaw": -0.2408142387866974
                    }
                },
                "velocity": {
                    "x": 5.855778217315674,
                    "y": -0.007431497797369957,
                    "z": -0.2041255086660385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.39104658365249634,
        "expert_target_speed": 10.0,
        "target_point": [
            33.443862956855675,
            -0.8891248443170985
        ],
        "target_point_next": [
            34.44373485738853,
            -0.9053156747249419
        ]
    },
    "670": {
        "acceleration": [
            -0.352020263671875,
            -0.012533515691757202,
            0.00826127827167511
        ],
        "angular_velocity": [
            -0.016571693122386932,
            0.40427467226982117,
            0.2081466168165207
        ],
        "forward_vector": [
            -0.9998753070831299,
            -0.01417546346783638,
            0.00695401756092906
        ],
        "right_vector": [
            0.014175421558320522,
            -0.9998995065689087,
            -5.525146843865514e-05
        ],
        "location": [
            190.0020294189453,
            5579.85107421875,
            365.4797058105469
        ],
        "rotation": [
            0.003165752626955509,
            0.39843904972076416,
            -179.18775939941406
        ],
        "velocity": [
            -4.571362495422363,
            -0.06716768443584442,
            0.032926883548498154
        ],
        "speed": 4.5718559210004255,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 74.204345703125,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1237925291061401,
                "transform": {
                    "location": {
                        "x": 208.39553833007812,
                        "y": 5580.173828125,
                        "z": 365.4468994140625
                    },
                    "rotation": {
                        "roll": -0.0032958975061774254,
                        "pitch": 0.3058285415172577,
                        "yaw": 179.95449829101562
                    }
                },
                "velocity": {
                    "x": -1.1218008995056152,
                    "y": -0.00849260576069355,
                    "z": 0.06633438169956207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.06203852593898773,
                "transform": {
                    "location": {
                        "x": 208.4755401611328,
                        "y": 5576.92431640625,
                        "z": 365.4524841308594
                    },
                    "rotation": {
                        "roll": 0.0016826955834403634,
                        "pitch": -0.04080354794859886,
                        "yaw": 179.86448669433594
                    }
                },
                "velocity": {
                    "x": -6.811895582359284e-05,
                    "y": 8.598280692240223e-05,
                    "z": 0.06203842908143997
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.9632487297058105,
                "transform": {
                    "location": {
                        "x": 161.11546325683594,
                        "y": 5586.83154296875,
                        "z": 365.8504943847656
                    },
                    "rotation": {
                        "roll": -0.010833740234375,
                        "pitch": -0.7243278622627258,
                        "yaw": 0.41084522008895874
                    }
                },
                "velocity": {
                    "x": 5.962424278259277,
                    "y": 0.05049378424882889,
                    "z": -0.08536212146282196
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.239131450653076,
                "transform": {
                    "location": {
                        "x": 159.04843139648438,
                        "y": 5583.5634765625,
                        "z": 365.87933349609375
                    },
                    "rotation": {
                        "roll": -0.013641356490552425,
                        "pitch": -0.3681061863899231,
                        "yaw": 0.31660225987434387
                    }
                },
                "velocity": {
                    "x": 5.23853874206543,
                    "y": 0.04402894526720047,
                    "z": -0.06538069248199463
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.858949899673462,
                "transform": {
                    "location": {
                        "x": 177.7069549560547,
                        "y": 5586.8212890625,
                        "z": 365.621826171875
                    },
                    "rotation": {
                        "roll": -0.0034790034405887127,
                        "pitch": -0.7893375754356384,
                        "yaw": 0.05115840956568718
                    }
                },
                "velocity": {
                    "x": 1.8587664365768433,
                    "y": 0.0016543238889425993,
                    "z": -0.02606673166155815
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8250867128372192,
                "transform": {
                    "location": {
                        "x": 188.78756713867188,
                        "y": 5586.81884765625,
                        "z": 365.5264892578125
                    },
                    "rotation": {
                        "roll": 0.00042919436236843467,
                        "pitch": -0.41052165627479553,
                        "yaw": -0.1493835598230362
                    }
                },
                "velocity": {
                    "x": 0.8250725865364075,
                    "y": -0.0015522700268775225,
                    "z": -0.0045733642764389515
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.811728000640869,
                "transform": {
                    "location": {
                        "x": 188.63796997070312,
                        "y": 5583.5654296875,
                        "z": 365.48828125
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.4530327618122101,
                        "yaw": -0.1001892015337944
                    }
                },
                "velocity": {
                    "x": 2.8116676807403564,
                    "y": -0.004888046067208052,
                    "z": -0.017771825194358826
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.942676544189453,
                "transform": {
                    "location": {
                        "x": 204.59210205078125,
                        "y": 5583.5244140625,
                        "z": 365.45904541015625
                    },
                    "rotation": {
                        "roll": 0.0015730515588074923,
                        "pitch": 0.017294038087129593,
                        "yaw": -0.3162841796875
                    }
                },
                "velocity": {
                    "x": 4.942597389221191,
                    "y": -0.02787061221897602,
                    "z": 0.0016994667239487171
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9354238510131836,
                "transform": {
                    "location": {
                        "x": 200.24241638183594,
                        "y": 5586.794921875,
                        "z": 365.44873046875
                    },
                    "rotation": {
                        "roll": -3.0517576306010596e-05,
                        "pitch": 0.04654773697257042,
                        "yaw": -0.13848876953125
                    }
                },
                "velocity": {
                    "x": 2.935415267944336,
                    "y": -0.006950161885470152,
                    "z": -0.0007613945053890347
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.039084434509277,
                "transform": {
                    "location": {
                        "x": 220.2917938232422,
                        "y": 5583.5,
                        "z": 365.4055480957031
                    },
                    "rotation": {
                        "roll": 0.23149599134922028,
                        "pitch": 1.3631075620651245,
                        "yaw": -0.1610107272863388
                    }
                },
                "velocity": {
                    "x": 11.037878036499023,
                    "y": -0.03707659989595413,
                    "z": 0.15894059836864471
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.151679039001465,
                "transform": {
                    "location": {
                        "x": 213.84007263183594,
                        "y": 5586.76123046875,
                        "z": 365.43121337890625
                    },
                    "rotation": {
                        "roll": 0.10833505541086197,
                        "pitch": -1.1450743675231934,
                        "yaw": -0.1721191555261612
                    }
                },
                "velocity": {
                    "x": 7.151627540588379,
                    "y": -0.019804442301392555,
                    "z": -0.018677448853850365
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.39911848306655884,
        "expert_target_speed": 10.0,
        "target_point": [
            32.308997559065745,
            -0.9034125838626006
        ],
        "target_point_next": [
            33.308862466719575,
            -0.920029650597995
        ]
    },
    "675": {
        "acceleration": [
            -0.44106483459472656,
            0.1109921932220459,
            0.005491971969604492
        ],
        "angular_velocity": [
            0.08082244545221329,
            0.40264248847961426,
            -0.22041140496730804
        ],
        "forward_vector": [
            -0.9998577833175659,
            -0.014412456192076206,
            0.008756167255342007
        ],
        "right_vector": [
            0.014411546289920807,
            -0.9998961091041565,
            -0.00016701238928362727
        ],
        "location": [
            188.8449249267578,
            5579.83447265625,
            365.48748779296875
        ],
        "rotation": [
            0.009569471701979637,
            0.501697838306427,
            -179.17416381835938
        ],
        "velocity": [
            -4.675655841827393,
            -0.0644046813249588,
            0.03312818333506584
        ],
        "speed": 4.67609939096585,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 73.04740905761719,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1732780933380127,
                "transform": {
                    "location": {
                        "x": 207.97499084472656,
                        "y": 5580.17041015625,
                        "z": 365.456787109375
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": 0.20052067935466766,
                        "yaw": -179.8910675048828
                    }
                },
                "velocity": {
                    "x": -2.173041820526123,
                    "y": -0.016753902658820152,
                    "z": 0.027316683903336525
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2169294357299805,
                "transform": {
                    "location": {
                        "x": 208.15687561035156,
                        "y": 5576.92236328125,
                        "z": 365.4562683105469
                    },
                    "rotation": {
                        "roll": 0.003192851785570383,
                        "pitch": 0.002588641596958041,
                        "yaw": 179.97735595703125
                    }
                },
                "velocity": {
                    "x": -2.216820478439331,
                    "y": -0.02170606143772602,
                    "z": -0.0034992981236428022
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.07726764678955,
                "transform": {
                    "location": {
                        "x": 162.9528045654297,
                        "y": 5586.83984375,
                        "z": 365.8243408203125
                    },
                    "rotation": {
                        "roll": 0.00613518338650465,
                        "pitch": -0.4612153172492981,
                        "yaw": 0.2654368579387665
                    }
                },
                "velocity": {
                    "x": 8.076384544372559,
                    "y": 0.030671805143356323,
                    "z": -0.11541203409433365
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.3950676918029785,
                "transform": {
                    "location": {
                        "x": 160.48460388183594,
                        "y": 5583.57470703125,
                        "z": 365.861328125
                    },
                    "rotation": {
                        "roll": -0.0130615234375,
                        "pitch": -0.5699997544288635,
                        "yaw": 0.43389245867729187
                    }
                },
                "velocity": {
                    "x": 6.394144058227539,
                    "y": 0.05718347430229187,
                    "z": -0.09241320192813873
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8340150713920593,
                "transform": {
                    "location": {
                        "x": 177.8672637939453,
                        "y": 5586.822265625,
                        "z": 365.6190490722656
                    },
                    "rotation": {
                        "roll": 0.00010478626791154966,
                        "pitch": -0.7177981734275818,
                        "yaw": -0.098876953125
                    }
                },
                "velocity": {
                    "x": 0.8339280486106873,
                    "y": 0.00296711060218513,
                    "z": -0.011676129885017872
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.534284234046936,
                "transform": {
                    "location": {
                        "x": 189.08546447753906,
                        "y": 5586.81884765625,
                        "z": 365.5243225097656
                    },
                    "rotation": {
                        "roll": 0.00136848958209157,
                        "pitch": -0.3652033507823944,
                        "yaw": -0.1567687839269638
                    }
                },
                "velocity": {
                    "x": 1.5342544317245483,
                    "y": -0.0032084949780255556,
                    "z": -0.009014186449348927
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.56603741645813,
                "transform": {
                    "location": {
                        "x": 189.44053649902344,
                        "y": 5583.564453125,
                        "z": 365.4830322265625
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.3884328305721283,
                        "yaw": -0.09930419921875
                    }
                },
                "velocity": {
                    "x": 3.5659759044647217,
                    "y": -0.0061921835877001286,
                    "z": -0.0199821088463068
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.612832546234131,
                "transform": {
                    "location": {
                        "x": 205.7753143310547,
                        "y": 5583.517578125,
                        "z": 365.45989990234375
                    },
                    "rotation": {
                        "roll": 0.0009818165563046932,
                        "pitch": -0.019739245995879173,
                        "yaw": -0.3250732421875
                    }
                },
                "velocity": {
                    "x": 4.612757205963135,
                    "y": -0.026249732822179794,
                    "z": 0.0026517200749367476
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5905799865722656,
                "transform": {
                    "location": {
                        "x": 201.05804443359375,
                        "y": 5586.79296875,
                        "z": 365.4488220214844
                    },
                    "rotation": {
                        "roll": 0.00031174957985058427,
                        "pitch": 0.06288554519414902,
                        "yaw": -0.1350097358226776
                    }
                },
                "velocity": {
                    "x": 3.590568780899048,
                    "y": -0.008568680845201015,
                    "z": 0.00273240078240633
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.006964683532715,
                "transform": {
                    "location": {
                        "x": 223.1765594482422,
                        "y": 5583.4921875,
                        "z": 365.4494323730469
                    },
                    "rotation": {
                        "roll": -0.00628662109375,
                        "pitch": 1.3919446468353271,
                        "yaw": -0.1744384467601776
                    }
                },
                "velocity": {
                    "x": 12.00595474243164,
                    "y": -0.04334266111254692,
                    "z": 0.14960959553718567
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.992382049560547,
                "transform": {
                    "location": {
                        "x": 215.90545654296875,
                        "y": 5586.7568359375,
                        "z": 365.39886474609375
                    },
                    "rotation": {
                        "roll": 0.43445754051208496,
                        "pitch": 0.3076931834220886,
                        "yaw": -0.11611936241388321
                    }
                },
                "velocity": {
                    "x": 8.992273330688477,
                    "y": -0.012966017238795757,
                    "z": -0.042300544679164886
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.43229639530181885,
        "expert_target_speed": 10.0,
        "target_point": [
            31.151558540402046,
            -0.9110069013946747
        ],
        "target_point_next": [
            32.15141947389476,
            -0.927861400484417
        ]
    },
    "680": {
        "acceleration": [
            -0.40818214416503906,
            0.035830289125442505,
            0.019964054226875305
        ],
        "angular_velocity": [
            -0.03394638001918793,
            -0.016443049535155296,
            -0.5357101559638977
        ],
        "forward_vector": [
            -0.9998868703842163,
            -0.011639908887445927,
            0.009524797089397907
        ],
        "right_vector": [
            0.011635774746537209,
            -0.9999321699142456,
            -0.0004893715959042311
        ],
        "location": [
            187.66256713867188,
            5579.82177734375,
            365.49658203125
        ],
        "rotation": [
            0.028040196746587753,
            0.545738935470581,
            -179.33303833007812
        ],
        "velocity": [
            -4.7746405601501465,
            -0.04139323532581329,
            0.04086671769618988
        ],
        "speed": 4.774819983890664,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 71.86518859863281,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6932661533355713,
                "transform": {
                    "location": {
                        "x": 207.2478790283203,
                        "y": 5580.16357421875,
                        "z": 365.46014404296875
                    },
                    "rotation": {
                        "roll": -0.005798339378088713,
                        "pitch": 0.16673174500465393,
                        "yaw": -179.71275329589844
                    }
                },
                "velocity": {
                    "x": -3.693119525909424,
                    "y": -0.032776158303022385,
                    "z": -0.003107519121840596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1455233097076416,
                "transform": {
                    "location": {
                        "x": 207.4746856689453,
                        "y": 5576.9169921875,
                        "z": 365.4552307128906
                    },
                    "rotation": {
                        "roll": -0.0005798338679596782,
                        "pitch": -0.010006226599216461,
                        "yaw": -179.8230743408203
                    }
                },
                "velocity": {
                    "x": -3.145343542098999,
                    "y": -0.03328398987650871,
                    "z": -0.0049288272857666016
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.9534759521484375,
                "transform": {
                    "location": {
                        "x": 164.84046936035156,
                        "y": 5586.8466796875,
                        "z": 365.7975769042969
                    },
                    "rotation": {
                        "roll": 0.0007076995680108666,
                        "pitch": -0.8876035213470459,
                        "yaw": 0.1779133528470993
                    }
                },
                "velocity": {
                    "x": 6.9527506828308105,
                    "y": 0.0224674791097641,
                    "z": -0.0979088693857193
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.409595966339111,
                "transform": {
                    "location": {
                        "x": 162.2703094482422,
                        "y": 5583.5888671875,
                        "z": 365.83526611328125
                    },
                    "rotation": {
                        "roll": 0.012868944555521011,
                        "pitch": -0.5353365540504456,
                        "yaw": 0.32493671774864197
                    }
                },
                "velocity": {
                    "x": 7.408731460571289,
                    "y": 0.03668360412120819,
                    "z": -0.10708030313253403
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7475342750549316,
                "transform": {
                    "location": {
                        "x": 178.19757080078125,
                        "y": 5586.822265625,
                        "z": 365.6156311035156
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": -0.8645926117897034,
                        "yaw": -0.0827331468462944
                    }
                },
                "velocity": {
                    "x": 1.7473700046539307,
                    "y": 0.0014127371832728386,
                    "z": -0.02391663007438183
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.6131792068481445,
                "transform": {
                    "location": {
                        "x": 189.60459899902344,
                        "y": 5586.8173828125,
                        "z": 365.52056884765625
                    },
                    "rotation": {
                        "roll": 0.0006134270806796849,
                        "pitch": -0.29513245820999146,
                        "yaw": -0.148284912109375
                    }
                },
                "velocity": {
                    "x": 2.613125801086426,
                    "y": -0.006838150322437286,
                    "z": -0.01526017114520073
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.311087608337402,
                "transform": {
                    "location": {
                        "x": 190.42921447753906,
                        "y": 5583.5625,
                        "z": 365.4764099121094
                    },
                    "rotation": {
                        "roll": -0.0001831054105423391,
                        "pitch": -0.31463947892189026,
                        "yaw": -0.0975646898150444
                    }
                },
                "velocity": {
                    "x": 4.311001300811768,
                    "y": -0.007326491177082062,
                    "z": -0.026290930807590485
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.411789894104004,
                "transform": {
                    "location": {
                        "x": 206.90695190429688,
                        "y": 5583.4580078125,
                        "z": 365.4606018066406
                    },
                    "rotation": {
                        "roll": 0.20331346988677979,
                        "pitch": -0.011290302500128746,
                        "yaw": -2.205230712890625
                    }
                },
                "velocity": {
                    "x": 4.392908096313477,
                    "y": -0.4077196419239044,
                    "z": 0.0034086608793586493
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.448032855987549,
                "transform": {
                    "location": {
                        "x": 202.06288146972656,
                        "y": 5586.791015625,
                        "z": 365.44952392578125
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.06519415229558945,
                        "yaw": -0.11492916941642761
                    }
                },
                "velocity": {
                    "x": 4.448028087615967,
                    "y": -0.006062292959541082,
                    "z": 0.002652740338817239
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.967588424682617,
                "transform": {
                    "location": {
                        "x": 226.29515075683594,
                        "y": 5583.48291015625,
                        "z": 365.476318359375
                    },
                    "rotation": {
                        "roll": -0.013397215865552425,
                        "pitch": 0.5060281753540039,
                        "yaw": -0.1569518893957138
                    }
                },
                "velocity": {
                    "x": 12.967520713806152,
                    "y": -0.03643163666129112,
                    "z": 0.020295867696404457
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.920465469360352,
                "transform": {
                    "location": {
                        "x": 218.3102264404297,
                        "y": 5586.75244140625,
                        "z": 365.40191650390625
                    },
                    "rotation": {
                        "roll": 0.42576417326927185,
                        "pitch": 0.22130495309829712,
                        "yaw": -0.1447448879480362
                    }
                },
                "velocity": {
                    "x": 9.920205116271973,
                    "y": -0.018799666315317154,
                    "z": 0.0694383829832077
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4305488169193268,
        "expert_target_speed": 10.0,
        "target_point": [
            29.971539764015304,
            -0.8235428172143363
        ],
        "target_point_next": [
            30.971443594758775,
            -0.8376243558026044
        ]
    },
    "685": {
        "acceleration": [
            -0.40676116943359375,
            0.04488546401262283,
            0.1020289957523346
        ],
        "angular_velocity": [
            -0.016055772081017494,
            0.23824000358581543,
            -0.5632874369621277
        ],
        "forward_vector": [
            -0.9999114274978638,
            -0.009203268215060234,
            0.00960883591324091
        ],
        "right_vector": [
            0.009199521504342556,
            -0.9999575614929199,
            -0.0004341287713032216
        ],
        "location": [
            186.45553588867188,
            5579.8125,
            365.5072326660156
        ],
        "rotation": [
            0.024874895811080933,
            0.5505542159080505,
            -179.47265625
        ],
        "velocity": [
            -4.877729415893555,
            -0.0311370100826025,
            0.04710078984498978
        ],
        "speed": 4.8778287965108165,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 70.65824890136719,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80780792236328,
                5580.39599609375,
                366.5777587890625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.130446434020996,
                "transform": {
                    "location": {
                        "x": 206.1328125,
                        "y": 5580.15283203125,
                        "z": 365.4591369628906
                    },
                    "rotation": {
                        "roll": -0.004547118209302425,
                        "pitch": 0.18932600319385529,
                        "yaw": -179.5407257080078
                    }
                },
                "velocity": {
                    "x": -5.13018798828125,
                    "y": -0.051486510783433914,
                    "z": -0.0002251624973723665
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9062399864196777,
                "transform": {
                    "location": {
                        "x": 206.58851623535156,
                        "y": 5576.90869140625,
                        "z": 365.4543762207031
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": -0.017369169741868973,
                        "yaw": -179.6397705078125
                    }
                },
                "velocity": {
                    "x": -3.9059982299804688,
                    "y": -0.043413542211055756,
                    "z": -0.00187457085121423
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7486576437950134,
                "transform": {
                    "location": {
                        "x": 165.80718994140625,
                        "y": 5586.8505859375,
                        "z": 365.7834167480469
                    },
                    "rotation": {
                        "roll": 0.009244045242667198,
                        "pitch": -1.7886693477630615,
                        "yaw": -0.0466918908059597
                    }
                },
                "velocity": {
                    "x": 0.7485724687576294,
                    "y": 0.005598932504653931,
                    "z": -0.009808626025915146
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.620436668395996,
                "transform": {
                    "location": {
                        "x": 164.36358642578125,
                        "y": 5583.59716796875,
                        "z": 365.8054504394531
                    },
                    "rotation": {
                        "roll": 0.009285438805818558,
                        "pitch": -0.543362021446228,
                        "yaw": 0.19597060978412628
                    }
                },
                "velocity": {
                    "x": 8.61953067779541,
                    "y": 0.027693811804056168,
                    "z": -0.12180759012699127
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.204721689224243,
                "transform": {
                    "location": {
                        "x": 178.7303924560547,
                        "y": 5586.8232421875,
                        "z": 365.6080627441406
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.8457003235816956,
                        "yaw": -0.0570373460650444
                    }
                },
                "velocity": {
                    "x": 2.2045130729675293,
                    "y": 0.0016822835896164179,
                    "z": -0.03027625009417534
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.9892001152038574,
                "transform": {
                    "location": {
                        "x": 190.435546875,
                        "y": 5586.81494140625,
                        "z": 365.5146789550781
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.19933906197547913,
                        "yaw": -0.1351318508386612
                    }
                },
                "velocity": {
                    "x": 3.989126205444336,
                    "y": -0.008429192937910557,
                    "z": -0.02276081033051014
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.101477146148682,
                "transform": {
                    "location": {
                        "x": 191.6082763671875,
                        "y": 5583.560546875,
                        "z": 365.4689025878906
                    },
                    "rotation": {
                        "roll": 0.0012187338434159756,
                        "pitch": -0.24249902367591858,
                        "yaw": -0.0976562425494194
                    }
                },
                "velocity": {
                    "x": 5.1014227867126465,
                    "y": -0.008567586541175842,
                    "z": -0.021954907104372978
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.2269463539123535,
                "transform": {
                    "location": {
                        "x": 207.97789001464844,
                        "y": 5583.3466796875,
                        "z": 365.4586181640625
                    },
                    "rotation": {
                        "roll": 0.12644769251346588,
                        "pitch": -0.12542958557605743,
                        "yaw": -4.346864223480225
                    }
                },
                "velocity": {
                    "x": 4.200236797332764,
                    "y": -0.47356975078582764,
                    "z": -0.028653644025325775
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.250859260559082,
                "transform": {
                    "location": {
                        "x": 203.29710388183594,
                        "y": 5586.78857421875,
                        "z": 365.4505310058594
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": 0.06662166118621826,
                        "yaw": -0.0916442796587944
                    }
                },
                "velocity": {
                    "x": 5.250853538513184,
                    "y": -0.006269559264183044,
                    "z": 0.004539966583251953
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.559052467346191,
                "transform": {
                    "location": {
                        "x": 229.63421630859375,
                        "y": 5583.4736328125,
                        "z": 365.4810485839844
                    },
                    "rotation": {
                        "roll": -0.007476806174963713,
                        "pitch": 0.48790088295936584,
                        "yaw": -0.148406982421875
                    }
                },
                "velocity": {
                    "x": 13.558969497680664,
                    "y": -0.035303402692079544,
                    "z": 0.03173309192061424
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.440347671508789,
                "transform": {
                    "location": {
                        "x": 220.99273681640625,
                        "y": 5586.74853515625,
                        "z": 365.4395751953125
                    },
                    "rotation": {
                        "roll": 0.14468629658222198,
                        "pitch": 1.737729787826538,
                        "yaw": -0.1423339694738388
                    }
                },
                "velocity": {
                    "x": 11.437240600585938,
                    "y": -0.03863351047039032,
                    "z": 0.2638097405433655
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.80780792236328,
                        "y": 5580.39599609375,
                        "z": 366.5777587890625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.43843328952789307,
        "expert_target_speed": 10.0,
        "target_point": [
            28.76639195214359,
            -0.7486783409123131
        ],
        "target_point_next": [
            29.766327126148298,
            -0.760323436560256
        ]
    },
    "690": {
        "acceleration": [
            -0.4097938537597656,
            0.04525367170572281,
            0.0006031244993209839
        ],
        "angular_velocity": [
            0.01033745240420103,
            0.3946535587310791,
            -0.5731558799743652
        ],
        "forward_vector": [
            -0.9999144673347473,
            -0.006725942250341177,
            0.01121449749916792
        ],
        "right_vector": [
            0.0067215547896921635,
            -0.9999772906303406,
            -0.0004288538184482604
        ],
        "location": [
            185.22203063964844,
            5579.8056640625,
            365.5199279785156
        ],
        "rotation": [
            0.024573059752583504,
            0.6425568461418152,
            -179.61460876464844
        ],
        "velocity": [
            -4.980463981628418,
            -0.01951332949101925,
            0.05321955680847168
        ],
        "speed": 4.980502207842681,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 69.42479705810547,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80773162841797,
                5580.39599609375,
                366.5731201171875
            ],
            "velocity": [
                -0.0010101619409397244,
                3.186310550518101e-06,
                -0.062444400042295456
            ],
            "speed_kmh": 0.22482925298965165,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5818305015563965,
                "transform": {
                    "location": {
                        "x": 204.76242065429688,
                        "y": 5580.1435546875,
                        "z": 365.45806884765625
                    },
                    "rotation": {
                        "roll": 0.005270726513117552,
                        "pitch": 0.07048071920871735,
                        "yaw": -179.60324096679688
                    }
                },
                "velocity": {
                    "x": -5.581739902496338,
                    "y": -0.0314919613301754,
                    "z": -0.004298753570765257
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.655910968780518,
                "transform": {
                    "location": {
                        "x": 205.51483154296875,
                        "y": 5576.89794921875,
                        "z": 365.4537658691406
                    },
                    "rotation": {
                        "roll": 0.0005975417443551123,
                        "pitch": -0.019261132925748825,
                        "yaw": -179.52442932128906
                    }
                },
                "velocity": {
                    "x": -4.655806064605713,
                    "y": -0.031156787648797035,
                    "z": -0.001923255855217576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9851090312004089,
                "transform": {
                    "location": {
                        "x": 165.90725708007812,
                        "y": 5586.85107421875,
                        "z": 365.7823791503906
                    },
                    "rotation": {
                        "roll": 0.004016812890768051,
                        "pitch": -1.0785483121871948,
                        "yaw": -0.03271484375
                    }
                },
                "velocity": {
                    "x": 0.9850288033485413,
                    "y": 0.0021913207601755857,
                    "z": -0.012380351312458515
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.192863464355469,
                "transform": {
                    "location": {
                        "x": 166.45883178710938,
                        "y": 5583.603515625,
                        "z": 365.779052734375
                    },
                    "rotation": {
                        "roll": 0.0020659344736486673,
                        "pitch": -0.8993241190910339,
                        "yaw": 0.14198468625545502
                    }
                },
                "velocity": {
                    "x": 8.192055702209473,
                    "y": 0.014125729911029339,
                    "z": -0.11418090760707855
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6463422775268555,
                "transform": {
                    "location": {
                        "x": 179.19178771972656,
                        "y": 5586.822265625,
                        "z": 365.6009826660156
                    },
                    "rotation": {
                        "roll": -0.00152587890625,
                        "pitch": -0.7504259943962097,
                        "yaw": -0.0354003868997097
                    }
                },
                "velocity": {
                    "x": 1.6461865901947021,
                    "y": 0.001643042778596282,
                    "z": -0.022588877007365227
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.255892753601074,
                "transform": {
                    "location": {
                        "x": 191.60374450683594,
                        "y": 5586.8125,
                        "z": 365.50738525390625
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -0.1200883761048317,
                        "yaw": -0.1299438327550888
                    }
                },
                "velocity": {
                    "x": 5.255826950073242,
                    "y": -0.011957244947552681,
                    "z": -0.0234682559967041
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.615901947021484,
                "transform": {
                    "location": {
                        "x": 192.93780517578125,
                        "y": 5583.55810546875,
                        "z": 365.4630126953125
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": -0.2569516897201538,
                        "yaw": -0.092987060546875
                    }
                },
                "velocity": {
                    "x": 5.61583137512207,
                    "y": -0.009444290772080421,
                    "z": -0.026525020599365234
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.037114143371582,
                "transform": {
                    "location": {
                        "x": 208.99546813964844,
                        "y": 5583.22119140625,
                        "z": 365.4513244628906
                    },
                    "rotation": {
                        "roll": 0.14951135218143463,
                        "pitch": -0.43926993012428284,
                        "yaw": -5.871250152587891
                    }
                },
                "velocity": {
                    "x": 3.988351345062256,
                    "y": -0.6249256730079651,
                    "z": -0.02852664887905121
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.967607498168945,
                "transform": {
                    "location": {
                        "x": 204.55914306640625,
                        "y": 5586.78759765625,
                        "z": 365.4513854980469
                    },
                    "rotation": {
                        "roll": 1.628444341178481e-12,
                        "pitch": 0.03520279377698898,
                        "yaw": -0.0741576999425888
                    }
                },
                "velocity": {
                    "x": 4.967604637145996,
                    "y": -0.005290917120873928,
                    "z": 0.0004959869547747076
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.409031867980957,
                "transform": {
                    "location": {
                        "x": 233.0078887939453,
                        "y": 5583.46484375,
                        "z": 365.4925842285156
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": 0.35000619292259216,
                        "yaw": -0.1477051079273224
                    }
                },
                "velocity": {
                    "x": 13.408876419067383,
                    "y": -0.034521304070949554,
                    "z": 0.0545494444668293
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.512421607971191,
                "transform": {
                    "location": {
                        "x": 223.98858642578125,
                        "y": 5586.73974609375,
                        "z": 365.4988098144531
                    },
                    "rotation": {
                        "roll": -0.012359618209302425,
                        "pitch": 0.7113026976585388,
                        "yaw": -0.1827392280101776
                    }
                },
                "velocity": {
                    "x": 12.511497497558594,
                    "y": -0.04251581057906151,
                    "z": 0.1460709422826767
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.020534222945570946,
                "transform": {
                    "location": {
                        "x": 116.1527328491211,
                        "y": 5577.1455078125,
                        "z": 366.5696105957031
                    },
                    "rotation": {
                        "roll": 0.0005347057594917715,
                        "pitch": 0.9617247581481934,
                        "yaw": 179.86233520507812
                    }
                },
                "velocity": {
                    "x": -0.00019714429799932986,
                    "y": -5.797972698928788e-05,
                    "z": -0.02053319476544857
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.06245256960391998,
                "transform": {
                    "location": {
                        "x": 115.80773162841797,
                        "y": 5580.39599609375,
                        "z": 366.5731201171875
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": 0.9566293954849243,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": -0.0010101619409397244,
                    "y": 3.186310550518101e-06,
                    "z": -0.062444400042295456
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4289715588092804,
        "expert_target_speed": 10.0,
        "target_point": [
            27.53463528997564,
            -0.6759421311252545
        ],
        "target_point_next": [
            28.534596247210022,
            -0.685109708306776
        ]
    },
    "695": {
        "acceleration": [
            0.5076885223388672,
            0.05095355957746506,
            -0.033813267946243286
        ],
        "angular_velocity": [
            -0.01047892402857542,
            -0.026127366349101067,
            -0.6294865012168884
        ],
        "forward_vector": [
            -0.9999122619628906,
            -0.00419835839420557,
            0.012565281242132187
        ],
        "right_vector": [
            0.004193780943751335,
            -0.9999911189079285,
            -0.00039059939444996417
        ],
        "location": [
            183.97030639648438,
            5579.8017578125,
            365.53314208984375
        ],
        "rotation": [
            0.022381462156772614,
            0.7199565172195435,
            -179.75942993164062
        ],
        "velocity": [
            -4.967835903167725,
            -0.007666247431188822,
            0.05295200273394585
        ],
        "speed": 4.967841818350496,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 68.17293548583984,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80773162841797,
                5580.39599609375,
                366.562255859375
            ],
            "velocity": [
                -0.00029041589004918933,
                4.5098473492544144e-05,
                -0.019114186987280846
            ],
            "speed_kmh": 0.06881920670876178,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.320214748382568,
                "transform": {
                    "location": {
                        "x": 203.20523071289062,
                        "y": 5580.134765625,
                        "z": 365.4571838378906
                    },
                    "rotation": {
                        "roll": 0.003095940686762333,
                        "pitch": 0.21507582068443298,
                        "yaw": -179.63096618652344
                    }
                },
                "velocity": {
                    "x": -7.320109844207764,
                    "y": -0.03877415880560875,
                    "z": -0.0057234191335737705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.251114368438721,
                "transform": {
                    "location": {
                        "x": 204.25804138183594,
                        "y": 5576.890625,
                        "z": 365.45330810546875
                    },
                    "rotation": {
                        "roll": 0.0009929894004017115,
                        "pitch": -0.022157132625579834,
                        "yaw": -179.6261444091797
                    }
                },
                "velocity": {
                    "x": -5.251054763793945,
                    "y": -0.02487429603934288,
                    "z": -0.0028147983830422163
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3168957233428955,
                "transform": {
                    "location": {
                        "x": 166.33546447753906,
                        "y": 5586.85107421875,
                        "z": 365.77655029296875
                    },
                    "rotation": {
                        "roll": 0.002150472952052951,
                        "pitch": -0.6427890658378601,
                        "yaw": -0.053588856011629105
                    }
                },
                "velocity": {
                    "x": 2.3166654109954834,
                    "y": -0.0011353977024555206,
                    "z": -0.03263547644019127
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.9112324714660645,
                "transform": {
                    "location": {
                        "x": 168.4609375,
                        "y": 5583.60595703125,
                        "z": 365.7514343261719
                    },
                    "rotation": {
                        "roll": 0.00822039321064949,
                        "pitch": -0.9172670245170593,
                        "yaw": 0.04551110044121742
                    }
                },
                "velocity": {
                    "x": 7.910457134246826,
                    "y": 0.0020789741538465023,
                    "z": -0.11072611808776855
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2710154056549072,
                "transform": {
                    "location": {
                        "x": 179.6756134033203,
                        "y": 5586.8232421875,
                        "z": 365.5951843261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.817805826663971,
                        "yaw": -0.013763427734375
                    }
                },
                "velocity": {
                    "x": 2.2708446979522705,
                    "y": 0.0023254789412021637,
                    "z": -0.027761826291680336
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.432413578033447,
                "transform": {
                    "location": {
                        "x": 192.6805419921875,
                        "y": 5586.810546875,
                        "z": 365.50347900390625
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.2810349464416504,
                        "yaw": -0.1292724758386612
                    }
                },
                "velocity": {
                    "x": 4.432347297668457,
                    "y": -0.010080663487315178,
                    "z": -0.02206292189657688
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.338553428649902,
                "transform": {
                    "location": {
                        "x": 194.4306182861328,
                        "y": 5583.5556640625,
                        "z": 365.4579162597656
                    },
                    "rotation": {
                        "roll": 0.0004256397078279406,
                        "pitch": -0.16366498172283173,
                        "yaw": -0.1188659518957138
                    }
                },
                "velocity": {
                    "x": 6.338523864746094,
                    "y": -0.013506854884326458,
                    "z": -0.01389266923069954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.971242427825928,
                "transform": {
                    "location": {
                        "x": 210.079833984375,
                        "y": 5583.0087890625,
                        "z": 365.4441223144531
                    },
                    "rotation": {
                        "roll": 0.30641868710517883,
                        "pitch": -0.5867063999176025,
                        "yaw": -9.091105461120605
                    }
                },
                "velocity": {
                    "x": 4.845847129821777,
                    "y": -1.1091076135635376,
                    "z": -0.02996922843158245
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.585984706878662,
                "transform": {
                    "location": {
                        "x": 205.75100708007812,
                        "y": 5586.7861328125,
                        "z": 365.45220947265625
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": 0.025148754939436913,
                        "yaw": -0.066070556640625
                    }
                },
                "velocity": {
                    "x": 4.585981369018555,
                    "y": -0.005039042793214321,
                    "z": 0.0024803257547318935
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.333940505981445,
                "transform": {
                    "location": {
                        "x": 236.3462371826172,
                        "y": 5583.45654296875,
                        "z": 365.50927734375
                    },
                    "rotation": {
                        "roll": -0.0032653806265443563,
                        "pitch": 0.350197434425354,
                        "yaw": -0.1405029296875
                    }
                },
                "velocity": {
                    "x": 13.333696365356445,
                    "y": -0.03224802017211914,
                    "z": 0.07394067943096161
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.4179105758667,
                "transform": {
                    "location": {
                        "x": 227.2360076904297,
                        "y": 5586.72998046875,
                        "z": 365.51568603515625
                    },
                    "rotation": {
                        "roll": -0.008270262740552425,
                        "pitch": 0.15070810914039612,
                        "yaw": -0.1576232612133026
                    }
                },
                "velocity": {
                    "x": 13.417860984802246,
                    "y": -0.03543062508106232,
                    "z": 0.008516035042703152
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00704915588721633,
                "transform": {
                    "location": {
                        "x": 116.15257263183594,
                        "y": 5577.1455078125,
                        "z": 366.56573486328125
                    },
                    "rotation": {
                        "roll": -0.00042724600643850863,
                        "pitch": 0.9721066355705261,
                        "yaw": 179.8624267578125
                    }
                },
                "velocity": {
                    "x": -5.539074481930584e-05,
                    "y": -0.00010671516065485775,
                    "z": -0.007048130501061678
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.019116446375846863,
                "transform": {
                    "location": {
                        "x": 115.80773162841797,
                        "y": 5580.39599609375,
                        "z": 366.562255859375
                    },
                    "rotation": {
                        "roll": 0.0002359092322876677,
                        "pitch": 0.95865797996521,
                        "yaw": 179.8623809814453
                    }
                },
                "velocity": {
                    "x": -0.00029041589004918933,
                    "y": 4.5098473492544144e-05,
                    "z": -0.019114186987280846
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.44491061568260193,
        "expert_target_speed": 10.0,
        "target_point": [
            26.284526301294115,
            -0.6049911566903949
        ],
        "target_point_next": [
            27.28450723697291,
            -0.611631092189494
        ]
    },
    "700": {
        "acceleration": [
            -1.3763904571533203,
            0.0858398824930191,
            0.016373246908187866
        ],
        "angular_velocity": [
            0.014852751046419144,
            0.2647317945957184,
            -0.4873291254043579
        ],
        "forward_vector": [
            -0.9999176859855652,
            -0.001649634912610054,
            0.01272214762866497
        ],
        "right_vector": [
            0.0016454103169962764,
            -0.9999985694885254,
            -0.00034252743353135884
        ],
        "location": [
            182.71592712402344,
            5579.80126953125,
            365.5477600097656
        ],
        "rotation": [
            0.01962696574628353,
            0.7289450764656067,
            -179.9054718017578
        ],
        "velocity": [
            -5.072784900665283,
            0.004169633146375418,
            0.06211456283926964
        ],
        "speed": 5.072786614303648,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 66.91850280761719,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80773162841797,
                5580.39599609375,
                366.5608215332031
            ],
            "velocity": [
                1.7221420421265066e-05,
                -0.00012539968884084374,
                -0.0004812632396351546
            ],
            "speed_kmh": 0.0017914692595142473,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.42941951751709,
                "transform": {
                    "location": {
                        "x": 201.232177734375,
                        "y": 5580.12548828125,
                        "z": 365.455810546875
                    },
                    "rotation": {
                        "roll": 0.0033699567429721355,
                        "pitch": 0.1685144156217575,
                        "yaw": -179.70306396484375
                    }
                },
                "velocity": {
                    "x": -8.429326057434082,
                    "y": -0.039128441363573074,
                    "z": -0.006154241506010294
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.104535102844238,
                "transform": {
                    "location": {
                        "x": 202.85812377929688,
                        "y": 5576.8837890625,
                        "z": 365.4523010253906
                    },
                    "rotation": {
                        "roll": 0.0003717058280017227,
                        "pitch": -0.016911547631025314,
                        "yaw": -179.68487548828125
                    }
                },
                "velocity": {
                    "x": -6.10446834564209,
                    "y": -0.028250183910131454,
                    "z": -0.004268159624189138
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.018800240010023117,
                "transform": {
                    "location": {
                        "x": 166.77967834472656,
                        "y": 5586.85107421875,
                        "z": 365.7702331542969
                    },
                    "rotation": {
                        "roll": 0.004857603460550308,
                        "pitch": -1.112064003944397,
                        "yaw": -0.1923522800207138
                    }
                },
                "velocity": {
                    "x": 0.018671168014407158,
                    "y": 0.0007714292732998729,
                    "z": -0.0020594666711986065
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.11438274383545,
                "transform": {
                    "location": {
                        "x": 170.46241760253906,
                        "y": 5583.60693359375,
                        "z": 365.7222595214844
                    },
                    "rotation": {
                        "roll": 0.0021991743706166744,
                        "pitch": -0.7661354541778564,
                        "yaw": -0.01599121280014515
                    }
                },
                "velocity": {
                    "x": 8.113614082336426,
                    "y": -0.004074784927070141,
                    "z": -0.11159305274486542
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8258447647094727,
                "transform": {
                    "location": {
                        "x": 180.1970977783203,
                        "y": 5586.8232421875,
                        "z": 365.58807373046875
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.7356523275375366,
                        "yaw": 0.0020191490184515715
                    }
                },
                "velocity": {
                    "x": 1.8256988525390625,
                    "y": 0.0016998325008898973,
                    "z": -0.023016205057501793
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.9778733253479,
                "transform": {
                    "location": {
                        "x": 193.9308624267578,
                        "y": 5586.806640625,
                        "z": 365.4985046386719
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": -0.16266094148159027,
                        "yaw": -0.0423583984375
                    }
                },
                "velocity": {
                    "x": 4.9778594970703125,
                    "y": -0.006484856363385916,
                    "z": -0.009850969538092613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.974737167358398,
                "transform": {
                    "location": {
                        "x": 196.14093017578125,
                        "y": 5583.55224609375,
                        "z": 365.4530029296875
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": -0.03658932074904442,
                        "yaw": -0.1210632175207138
                    }
                },
                "velocity": {
                    "x": 6.974708557128906,
                    "y": -0.014585855416953564,
                    "z": -0.013698196038603783
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.358093738555908,
                "transform": {
                    "location": {
                        "x": 211.34217834472656,
                        "y": 5582.6337890625,
                        "z": 365.4325256347656
                    },
                    "rotation": {
                        "roll": 0.763123095035553,
                        "pitch": -0.6648847460746765,
                        "yaw": -14.512899398803711
                    }
                },
                "velocity": {
                    "x": 5.056801795959473,
                    "y": -1.7704015970230103,
                    "z": -0.06001444533467293
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.426658630371094,
                "transform": {
                    "location": {
                        "x": 206.8739776611328,
                        "y": 5586.82568359375,
                        "z": 365.4529724121094
                    },
                    "rotation": {
                        "roll": -0.0492553636431694,
                        "pitch": 0.029130754992365837,
                        "yaw": 1.5712387561798096
                    }
                },
                "velocity": {
                    "x": 4.399681091308594,
                    "y": 0.48796314001083374,
                    "z": 0.0026099681854248047
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.368943214416504,
                "transform": {
                    "location": {
                        "x": 239.6844482421875,
                        "y": 5583.44921875,
                        "z": 365.5302734375
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": 0.4034387469291687,
                        "yaw": -0.1276550441980362
                    }
                },
                "velocity": {
                    "x": 13.368560791015625,
                    "y": -0.03074025548994541,
                    "z": 0.09639953076839447
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.508441925048828,
                "transform": {
                    "location": {
                        "x": 230.62054443359375,
                        "y": 5586.72119140625,
                        "z": 365.522216796875
                    },
                    "rotation": {
                        "roll": -0.0032653810922056437,
                        "pitch": 0.2252323031425476,
                        "yaw": -0.145050048828125
                    }
                },
                "velocity": {
                    "x": 13.508323669433594,
                    "y": -0.03441864624619484,
                    "z": 0.044893644750118256
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001916010514833033,
                "transform": {
                    "location": {
                        "x": 116.15257263183594,
                        "y": 5577.1455078125,
                        "z": 366.5660400390625
                    },
                    "rotation": {
                        "roll": -6.103504347265698e-05,
                        "pitch": 0.9717856049537659,
                        "yaw": 179.86245727539062
                    }
                },
                "velocity": {
                    "x": 5.9577523643383756e-05,
                    "y": -6.286733696470037e-05,
                    "z": 0.001914051827043295
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004976303316652775,
                "transform": {
                    "location": {
                        "x": 115.80773162841797,
                        "y": 5580.39599609375,
                        "z": 366.5608215332031
                    },
                    "rotation": {
                        "roll": 8.984014243651472e-07,
                        "pitch": 0.9586716294288635,
                        "yaw": 179.86245727539062
                    }
                },
                "velocity": {
                    "x": 1.7221420421265066e-05,
                    "y": -0.00012539968884084374,
                    "z": -0.0004812632396351546
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.428562730550766,
        "expert_target_speed": 10.0,
        "target_point": [
            25.03160449646818,
            -0.53641675441391
        ],
        "target_point_next": [
            26.031599107438048,
            -0.5405080250848314
        ]
    },
    "705": {
        "acceleration": [
            0.4493522644042969,
            0.12335501611232758,
            0.024960339069366455
        ],
        "angular_velocity": [
            0.0700412318110466,
            -0.05215948447585106,
            -0.7332475781440735
        ],
        "forward_vector": [
            -0.9999092221260071,
            0.0017042139079421759,
            0.013365823775529861
        ],
        "right_vector": [
            -0.001710195210762322,
            -0.9999984502792358,
            -0.0004360949678812176
        ],
        "location": [
            181.43609619140625,
            5579.8037109375,
            365.5635986328125
        ],
        "rotation": [
            0.024988634511828423,
            0.7658280730247498,
            179.90234375
        ],
        "velocity": [
            -5.145270824432373,
            0.023957395926117897,
            0.06824060529470444
        ],
        "speed": 5.145326599310733,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 65.63861083984375,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80773162841797,
                5580.39599609375,
                366.5609436035156
            ],
            "velocity": [
                6.0208141803741455e-05,
                -9.465874609304592e-05,
                0.001763946725986898
            ],
            "speed_kmh": 0.006363037782749649,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.662931442260742,
                "transform": {
                    "location": {
                        "x": 199.0388946533203,
                        "y": 5580.119140625,
                        "z": 365.45538330078125
                    },
                    "rotation": {
                        "roll": 0.010089845396578312,
                        "pitch": 0.09299985319375992,
                        "yaw": -179.88397216796875
                    }
                },
                "velocity": {
                    "x": -8.662918090820312,
                    "y": -0.015175146982073784,
                    "z": 0.0015905379550531507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.970986366271973,
                "transform": {
                    "location": {
                        "x": 201.25546264648438,
                        "y": 5576.8759765625,
                        "z": 365.4512023925781
                    },
                    "rotation": {
                        "roll": -3.0517576306010596e-05,
                        "pitch": -0.014432189054787159,
                        "yaw": -179.71551513671875
                    }
                },
                "velocity": {
                    "x": -6.970917701721191,
                    "y": -0.03037475049495697,
                    "z": -0.00601055147126317
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.06500244140625,
                "transform": {
                    "location": {
                        "x": 166.90414428710938,
                        "y": 5586.85107421875,
                        "z": 365.7685546875
                    },
                    "rotation": {
                        "roll": 0.003484817687422037,
                        "pitch": -0.7992277145385742,
                        "yaw": -0.18243408203125
                    }
                },
                "velocity": {
                    "x": 1.0649011135101318,
                    "y": -0.001863463781774044,
                    "z": -0.0145705696195364
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.133155822753906,
                "transform": {
                    "location": {
                        "x": 172.499755859375,
                        "y": 5583.60546875,
                        "z": 365.694091796875
                    },
                    "rotation": {
                        "roll": 0.0034169552382081747,
                        "pitch": -0.759182333946228,
                        "yaw": -0.050933826714754105
                    }
                },
                "velocity": {
                    "x": 8.1323881149292,
                    "y": -0.009500869549810886,
                    "z": -0.1113310158252716
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3435564041137695,
                "transform": {
                    "location": {
                        "x": 180.69984436035156,
                        "y": 5586.82373046875,
                        "z": 365.58203125
                    },
                    "rotation": {
                        "roll": -0.0022277829702943563,
                        "pitch": -0.7705613970756531,
                        "yaw": 0.014585699886083603
                    }
                },
                "velocity": {
                    "x": 2.3433661460876465,
                    "y": 0.0026211440563201904,
                    "z": -0.02974965050816536
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.492539167404175,
                "transform": {
                    "location": {
                        "x": 194.5675811767578,
                        "y": 5586.8017578125,
                        "z": 365.49853515625
                    },
                    "rotation": {
                        "roll": -0.0040283203125,
                        "pitch": -0.34833279252052307,
                        "yaw": 0.20770637691020966
                    }
                },
                "velocity": {
                    "x": 2.492530345916748,
                    "y": -0.0037384508177638054,
                    "z": -0.005474214442074299
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.062951564788818,
                "transform": {
                    "location": {
                        "x": 197.75,
                        "y": 5583.548828125,
                        "z": 365.45159912109375
                    },
                    "rotation": {
                        "roll": 0.00024717237101867795,
                        "pitch": -0.07425098121166229,
                        "yaw": -0.12118528038263321
                    }
                },
                "velocity": {
                    "x": 6.062935829162598,
                    "y": -0.012785112485289574,
                    "z": -0.005157241597771645
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.627673149108887,
                "transform": {
                    "location": {
                        "x": 212.630859375,
                        "y": 5582.03466796875,
                        "z": 365.4225769042969
                    },
                    "rotation": {
                        "roll": 1.1904430389404297,
                        "pitch": -0.07677815109491348,
                        "yaw": -22.703655242919922
                    }
                },
                "velocity": {
                    "x": 5.770309925079346,
                    "y": -3.2600903511047363,
                    "z": -0.037149395793676376
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.2053399085998535,
                "transform": {
                    "location": {
                        "x": 207.94577026367188,
                        "y": 5586.93994140625,
                        "z": 365.45361328125
                    },
                    "rotation": {
                        "roll": -0.02355956844985485,
                        "pitch": 0.029158076271414757,
                        "yaw": 4.70496940612793
                    }
                },
                "velocity": {
                    "x": 4.159912109375,
                    "y": 0.6164549589157104,
                    "z": 0.0007235431694425642
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.374878883361816,
                "transform": {
                    "location": {
                        "x": 243.029052734375,
                        "y": 5583.44091796875,
                        "z": 365.55584716796875
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.5060896873474121,
                        "yaw": -0.13311767578125
                    }
                },
                "velocity": {
                    "x": 13.374369621276855,
                    "y": -0.030219746753573418,
                    "z": 0.11269239336252213
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.340904235839844,
                "transform": {
                    "location": {
                        "x": 233.9723358154297,
                        "y": 5586.71240234375,
                        "z": 365.53564453125
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": 0.24746456742286682,
                        "yaw": -0.138824462890625
                    }
                },
                "velocity": {
                    "x": 13.340716361999512,
                    "y": -0.031228112056851387,
                    "z": 0.06356065720319748
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002944039006251842,
                "transform": {
                    "location": {
                        "x": 116.15265655517578,
                        "y": 5577.1455078125,
                        "z": 366.5661926269531
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": 0.9711640477180481,
                        "yaw": 179.8624725341797
                    }
                },
                "velocity": {
                    "x": 4.2774972826009616e-05,
                    "y": 9.999777830671519e-06,
                    "z": 0.0002911081537604332
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001767510548233986,
                "transform": {
                    "location": {
                        "x": 115.80773162841797,
                        "y": 5580.39599609375,
                        "z": 366.5609436035156
                    },
                    "rotation": {
                        "roll": 0.0005931822233833373,
                        "pitch": 0.9588492512702942,
                        "yaw": 179.8625030517578
                    }
                },
                "velocity": {
                    "x": 6.0208141803741455e-05,
                    "y": -9.465874609304592e-05,
                    "z": 0.001763946725986898
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.44214650988578796,
        "expert_target_speed": 10.0,
        "target_point": [
            23.753429638885727,
            -0.45219576583344423
        ],
        "target_point_next": [
            24.753432347382788,
            -0.45293296528452864
        ]
    },
    "710": {
        "acceleration": [
            0.42160987854003906,
            0.03360241651535034,
            -0.022591054439544678
        ],
        "angular_velocity": [
            -0.007163444068282843,
            0.11832752823829651,
            -0.6682184338569641
        ],
        "forward_vector": [
            -0.999893307685852,
            0.005025759339332581,
            0.013716028071939945
        ],
        "right_vector": [
            -0.005031656939536333,
            -0.9999873042106628,
            -0.00039550982182845473
        ],
        "location": [
            180.1560821533203,
            5579.81103515625,
            365.58050537109375
        ],
        "rotation": [
            0.02266317419707775,
            0.7858951687812805,
            179.71202087402344
        ],
        "velocity": [
            -5.126960754394531,
            0.03985150530934334,
            0.06757722795009613
        ],
        "speed": 5.127115633528969,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.35848236083984,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80773162841797,
                5580.39599609375,
                366.56097412109375
            ],
            "velocity": [
                2.8377324269968085e-05,
                -4.344965873315232e-06,
                -0.00012658436025958508
            ],
            "speed_kmh": 0.00046727599953822943,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.4063286781311035,
                "transform": {
                    "location": {
                        "x": 197.029052734375,
                        "y": 5580.11669921875,
                        "z": 365.4561767578125
                    },
                    "rotation": {
                        "roll": 0.006014708895236254,
                        "pitch": -0.05916992574930191,
                        "yaw": -179.943603515625
                    }
                },
                "velocity": {
                    "x": -7.406320095062256,
                    "y": -0.004950134549289942,
                    "z": 0.01017492264509201
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.846724033355713,
                "transform": {
                    "location": {
                        "x": 199.39320373535156,
                        "y": 5576.8701171875,
                        "z": 365.45074462890625
                    },
                    "rotation": {
                        "roll": 0.001544388011097908,
                        "pitch": 0.02567468024790287,
                        "yaw": -179.82997131347656
                    }
                },
                "velocity": {
                    "x": -7.846712589263916,
                    "y": -0.012252467684447765,
                    "z": 0.005355176981538534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.333033561706543,
                "transform": {
                    "location": {
                        "x": 167.35116577148438,
                        "y": 5586.85107421875,
                        "z": 365.7624206542969
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": -0.5975595712661743,
                        "yaw": -0.1131286546587944
                    }
                },
                "velocity": {
                    "x": 2.332810878753662,
                    "y": -0.0011406623525545,
                    "z": -0.03221676126122475
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.072803497314453,
                "transform": {
                    "location": {
                        "x": 174.5235137939453,
                        "y": 5583.60302734375,
                        "z": 365.666748046875
                    },
                    "rotation": {
                        "roll": 0.0027267260011285543,
                        "pitch": -0.8218083381652832,
                        "yaw": -0.0852050706744194
                    }
                },
                "velocity": {
                    "x": 8.07201862335205,
                    "y": -0.013228409923613071,
                    "z": -0.11179530620574951
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2609007358551025,
                "transform": {
                    "location": {
                        "x": 181.39952087402344,
                        "y": 5586.82373046875,
                        "z": 365.5734558105469
                    },
                    "rotation": {
                        "roll": -0.001861572265625,
                        "pitch": -0.8009011149406433,
                        "yaw": 0.007260981947183609
                    }
                },
                "velocity": {
                    "x": 3.2606475353240967,
                    "y": -0.0018534172559157014,
                    "z": -0.04057793691754341
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.047988414764404,
                "transform": {
                    "location": {
                        "x": 195.40194702148438,
                        "y": 5586.8017578125,
                        "z": 365.4937438964844
                    },
                    "rotation": {
                        "roll": 0.0001955463521881029,
                        "pitch": -0.010224792174994946,
                        "yaw": 0.10223495215177536
                    }
                },
                "velocity": {
                    "x": 4.047973155975342,
                    "y": -0.005753168836236,
                    "z": -0.009551811031997204
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.0390472412109375,
                "transform": {
                    "location": {
                        "x": 199.25991821289062,
                        "y": 5583.5458984375,
                        "z": 365.451171875
                    },
                    "rotation": {
                        "roll": 0.0008378784987144172,
                        "pitch": -0.014555132016539574,
                        "yaw": -0.1211852952837944
                    }
                },
                "velocity": {
                    "x": 6.039033889770508,
                    "y": -0.012731481343507767,
                    "z": 0.0016326904296875
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.348001480102539,
                "transform": {
                    "location": {
                        "x": 214.21429443359375,
                        "y": 5580.94287109375,
                        "z": 365.4183044433594
                    },
                    "rotation": {
                        "roll": 1.6378141641616821,
                        "pitch": 0.5478289723396301,
                        "yaw": -34.2055778503418
                    }
                },
                "velocity": {
                    "x": 6.37937068939209,
                    "y": -5.384410381317139,
                    "z": 0.029680976644158363
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.056145191192627,
                "transform": {
                    "location": {
                        "x": 208.9628143310547,
                        "y": 5587.08056640625,
                        "z": 365.45147705078125
                    },
                    "rotation": {
                        "roll": -0.30133056640625,
                        "pitch": -0.09051366150379181,
                        "yaw": 6.910715579986572
                    }
                },
                "velocity": {
                    "x": 3.9890859127044678,
                    "y": 0.7341985106468201,
                    "z": -0.02139469049870968
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.365598678588867,
                "transform": {
                    "location": {
                        "x": 246.37210083007812,
                        "y": 5583.43359375,
                        "z": 365.5858459472656
                    },
                    "rotation": {
                        "roll": 0.0010754617396742105,
                        "pitch": 0.5649453997612,
                        "yaw": -0.1346130073070526
                    }
                },
                "velocity": {
                    "x": 13.364935874938965,
                    "y": -0.031900372356176376,
                    "z": 0.1292753517627716
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.352823257446289,
                "transform": {
                    "location": {
                        "x": 237.30734252929688,
                        "y": 5586.705078125,
                        "z": 365.5537109375
                    },
                    "rotation": {
                        "roll": 9.868159395409748e-05,
                        "pitch": 0.3707016706466675,
                        "yaw": -0.1371459811925888
                    }
                },
                "velocity": {
                    "x": 13.352527618408203,
                    "y": -0.031192027032375336,
                    "z": 0.0832652673125267
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0010412911651656032,
                "transform": {
                    "location": {
                        "x": 116.15265655517578,
                        "y": 5577.1455078125,
                        "z": 366.5661926269531
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": 0.9711640477180481,
                        "yaw": 179.8624725341797
                    }
                },
                "velocity": {
                    "x": 4.4260174036026e-05,
                    "y": 6.548181318066781e-06,
                    "z": 0.0010403294581919909
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00012979889288544655,
                "transform": {
                    "location": {
                        "x": 115.80773162841797,
                        "y": 5580.39599609375,
                        "z": 366.56097412109375
                    },
                    "rotation": {
                        "roll": -9.155284351436421e-05,
                        "pitch": 0.9589107036590576,
                        "yaw": 179.862548828125
                    }
                },
                "velocity": {
                    "x": 2.8377324269968085e-05,
                    "y": -4.344965873315232e-06,
                    "z": -0.00012658436025958508
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.41994020342826843,
        "expert_target_speed": 10.0,
        "target_point": [
            22.47476594902882,
            -0.37240190013887453
        ],
        "target_point_next": [
            23.47476558955679,
            -0.36981744499051905
        ]
    },
    "715": {
        "acceleration": [
            -3.2041549682617188,
            0.12230679392814636,
            0.07500678300857544
        ],
        "angular_velocity": [
            0.0478135347366333,
            0.7328261733055115,
            -0.8712683916091919
        ],
        "forward_vector": [
            -0.9997905492782593,
            0.008109868504106998,
            0.018789494410157204
        ],
        "right_vector": [
            -0.008118393830955029,
            -0.9999669790267944,
            -0.0003774847136810422
        ],
        "location": [
            178.75796508789062,
            5579.82373046875,
            365.59796142578125
        ],
        "rotation": [
            0.021632099524140358,
            1.0766221284866333,
            179.53524780273438
        ],
        "velocity": [
            -6.090573787689209,
            0.0657617524266243,
            0.08288133144378662
        ],
        "speed": 6.090928802027578,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.960201263427734,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80773162841797,
                5580.39599609375,
                366.56097412109375
            ],
            "velocity": [
                5.3639410907635465e-05,
                -2.633987423905637e-05,
                0.0014032089384272695
            ],
            "speed_kmh": 0.005056130857816561,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.152598857879639,
                "transform": {
                    "location": {
                        "x": 195.39976501464844,
                        "y": 5580.1162109375,
                        "z": 365.4588623046875
                    },
                    "rotation": {
                        "roll": 0.004607710521668196,
                        "pitch": -0.20644928514957428,
                        "yaw": -179.97372436523438
                    }
                },
                "velocity": {
                    "x": -5.1525797843933105,
                    "y": 0.001100946101360023,
                    "z": 0.013971356675028801
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.667256355285645,
                "transform": {
                    "location": {
                        "x": 197.32359313964844,
                        "y": 5576.8671875,
                        "z": 365.4516296386719
                    },
                    "rotation": {
                        "roll": 0.0011967800091952085,
                        "pitch": 0.09663350880146027,
                        "yaw": -179.94577026367188
                    }
                },
                "velocity": {
                    "x": -8.667251586914062,
                    "y": -0.004045028705149889,
                    "z": 0.008395614102482796
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0028167387936264277,
                "transform": {
                    "location": {
                        "x": 167.71343994140625,
                        "y": 5586.85107421875,
                        "z": 365.7571716308594
                    },
                    "rotation": {
                        "roll": 0.00010322632442694157,
                        "pitch": -1.1619516611099243,
                        "yaw": -0.0673827975988388
                    }
                },
                "velocity": {
                    "x": 0.0027787028811872005,
                    "y": -1.4684576854051556e-05,
                    "z": 0.000461098097730428
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.05199909210205,
                "transform": {
                    "location": {
                        "x": 176.53663635253906,
                        "y": 5583.60009765625,
                        "z": 365.6387939453125
                    },
                    "rotation": {
                        "roll": 0.0015359888784587383,
                        "pitch": -0.8088377714157104,
                        "yaw": -0.099578857421875
                    }
                },
                "velocity": {
                    "x": 8.051220893859863,
                    "y": -0.014874977990984917,
                    "z": -0.11093655973672867
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.404358386993408,
                "transform": {
                    "location": {
                        "x": 182.3632049560547,
                        "y": 5586.822265625,
                        "z": 365.5613098144531
                    },
                    "rotation": {
                        "roll": -0.0015258786734193563,
                        "pitch": -0.7931147217750549,
                        "yaw": -0.010040282271802425
                    }
                },
                "velocity": {
                    "x": 4.40401029586792,
                    "y": -0.0019834234844893217,
                    "z": -0.055326275527477264
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.349380016326904,
                "transform": {
                    "location": {
                        "x": 196.58523559570312,
                        "y": 5586.80029296875,
                        "z": 365.490966796875
                    },
                    "rotation": {
                        "roll": 0.0014672764809802175,
                        "pitch": 0.0813065692782402,
                        "yaw": 0.008051645010709763
                    }
                },
                "velocity": {
                    "x": 5.349369525909424,
                    "y": -0.010089407674968243,
                    "z": -0.0031554889865219593
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.676218032836914,
                "transform": {
                    "location": {
                        "x": 200.7430419921875,
                        "y": 5583.54296875,
                        "z": 365.450927734375
                    },
                    "rotation": {
                        "roll": 0.0007810159004293382,
                        "pitch": 0.037764113396406174,
                        "yaw": -0.12484738975763321
                    }
                },
                "velocity": {
                    "x": 5.67620325088501,
                    "y": -0.012669435702264309,
                    "z": 0.002706327475607395
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.445497512817383,
                "transform": {
                    "location": {
                        "x": 215.67437744140625,
                        "y": 5579.28369140625,
                        "z": 365.4317626953125
                    },
                    "rotation": {
                        "roll": 2.009519338607788,
                        "pitch": 0.6042463183403015,
                        "yaw": -50.53716278076172
                    }
                },
                "velocity": {
                    "x": 5.371030330657959,
                    "y": -7.769492149353027,
                    "z": 0.06676000356674194
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.618652820587158,
                "transform": {
                    "location": {
                        "x": 210.00741577148438,
                        "y": 5587.29248046875,
                        "z": 365.4462890625
                    },
                    "rotation": {
                        "roll": -0.3648375868797302,
                        "pitch": -0.3208003044128418,
                        "yaw": 10.116016387939453
                    }
                },
                "velocity": {
                    "x": 4.449592113494873,
                    "y": 1.237888216972351,
                    "z": -0.026781057938933372
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 249.74046325683594,
                        "y": 5583.42529296875,
                        "z": 365.62017822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6169778108596802,
                        "yaw": -0.1376648098230362
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.377900123596191,
                "transform": {
                    "location": {
                        "x": 240.6500701904297,
                        "y": 5586.69677734375,
                        "z": 365.5763854980469
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.4244074523448944,
                        "yaw": -0.1294555366039276
                    }
                },
                "velocity": {
                    "x": 13.37745475769043,
                    "y": -0.031059222295880318,
                    "z": 0.10459300875663757
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005095592932775617,
                "transform": {
                    "location": {
                        "x": 116.15265655517578,
                        "y": 5577.1455078125,
                        "z": 366.5661926269531
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": 0.9711640477180481,
                        "yaw": 179.8624725341797
                    }
                },
                "velocity": {
                    "x": 3.4065989893861115e-05,
                    "y": 1.8430205273034517e-06,
                    "z": 0.0005084159201942384
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0014044807758182287,
                "transform": {
                    "location": {
                        "x": 115.80773162841797,
                        "y": 5580.39599609375,
                        "z": 366.56097412109375
                    },
                    "rotation": {
                        "roll": -9.155284351436421e-05,
                        "pitch": 0.9589107036590576,
                        "yaw": 179.862548828125
                    }
                },
                "velocity": {
                    "x": 5.3639410907635465e-05,
                    "y": -2.633987423905637e-05,
                    "z": 0.0014032089384272695
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4035678803920746,
        "expert_target_speed": 10.0,
        "target_point": [
            21.077633853463887,
            -0.3017076107331871
        ],
        "target_point_next": [
            22.077620761579958,
            -0.2960380374738611
        ]
    },
    "720": {
        "acceleration": [
            -1.149435043334961,
            0.0878395140171051,
            0.030558109283447266
        ],
        "angular_velocity": [
            -0.03324369341135025,
            -0.37299323081970215,
            -0.7875463962554932
        ],
        "forward_vector": [
            -0.9997616410255432,
            0.011525213718414307,
            0.01854027435183525
        ],
        "right_vector": [
            -0.011534440331161022,
            -0.9999334216117859,
            -0.00039076420944184065
        ],
        "location": [
            177.17054748535156,
            5579.8427734375,
            365.6200256347656
        ],
        "rotation": [
            0.022392988204956055,
            1.062340259552002,
            179.3395233154297
        ],
        "velocity": [
            -6.540364742279053,
            0.09095602482557297,
            0.09087732434272766
        ],
        "speed": 6.540997168666182,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 61.37252426147461,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80773162841797,
                5580.39599609375,
                366.56097412109375
            ],
            "velocity": [
                4.3543426727410406e-05,
                -3.2800853659864515e-05,
                0.0007979237125255167
            ],
            "speed_kmh": 0.0028792217931606803,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.125278949737549,
                "transform": {
                    "location": {
                        "x": 194.19781494140625,
                        "y": 5580.1162109375,
                        "z": 365.4627380371094
                    },
                    "rotation": {
                        "roll": 0.0037814616225659847,
                        "pitch": 0.11266396194696426,
                        "yaw": -179.9221649169922
                    }
                },
                "velocity": {
                    "x": -5.125239849090576,
                    "y": 0.001279121614061296,
                    "z": 0.01989947259426117
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.42365550994873,
                "transform": {
                    "location": {
                        "x": 195.05882263183594,
                        "y": 5576.8662109375,
                        "z": 365.4554748535156
                    },
                    "rotation": {
                        "roll": 0.0016590221785008907,
                        "pitch": 0.13881675899028778,
                        "yaw": -179.9990997314453
                    }
                },
                "velocity": {
                    "x": -9.423600196838379,
                    "y": 0.0033612786792218685,
                    "z": 0.03205028548836708
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5617939233779907,
                "transform": {
                    "location": {
                        "x": 167.9371795654297,
                        "y": 5586.85107421875,
                        "z": 365.7541809082031
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": -0.7037006616592407,
                        "yaw": -0.0729675367474556
                    }
                },
                "velocity": {
                    "x": 1.5616401433944702,
                    "y": -0.0003536072908900678,
                    "z": -0.02190682291984558
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.117667198181152,
                "transform": {
                    "location": {
                        "x": 178.5594482421875,
                        "y": 5583.59619140625,
                        "z": 365.61053466796875
                    },
                    "rotation": {
                        "roll": 0.0010203123092651367,
                        "pitch": -0.7867079973220825,
                        "yaw": -0.1110839769244194
                    }
                },
                "velocity": {
                    "x": 8.116881370544434,
                    "y": -0.015578493475914001,
                    "z": -0.11182557046413422
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.171286582946777,
                "transform": {
                    "location": {
                        "x": 183.59703063964844,
                        "y": 5586.82177734375,
                        "z": 365.5466003417969
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": -0.7748371362686157,
                        "yaw": -0.01940917782485485
                    }
                },
                "velocity": {
                    "x": 5.170932292938232,
                    "y": -0.002847109455615282,
                    "z": -0.060470737516880035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.459598064422607,
                "transform": {
                    "location": {
                        "x": 197.859130859375,
                        "y": 5586.79736328125,
                        "z": 365.49029541015625
                    },
                    "rotation": {
                        "roll": 0.0012099385494366288,
                        "pitch": 0.008763132616877556,
                        "yaw": 0.10338794440031052
                    }
                },
                "velocity": {
                    "x": 5.459588050842285,
                    "y": -0.009842409752309322,
                    "z": -0.0034697246737778187
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.173927307128906,
                "transform": {
                    "location": {
                        "x": 202.08023071289062,
                        "y": 5583.53857421875,
                        "z": 365.4519958496094
                    },
                    "rotation": {
                        "roll": 0.0018304857658222318,
                        "pitch": 0.027539320290088654,
                        "yaw": -0.1801147311925888
                    }
                },
                "velocity": {
                    "x": 5.173867225646973,
                    "y": -0.024837803095579147,
                    "z": 0.002243251772597432
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.365180969238281,
                "transform": {
                    "location": {
                        "x": 216.79132080078125,
                        "y": 5577.14697265625,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 1.7411338090896606,
                        "pitch": 0.7860932350158691,
                        "yaw": -65.47502136230469
                    }
                },
                "velocity": {
                    "x": 3.866231918334961,
                    "y": -9.616754531860352,
                    "z": 0.08524364233016968
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.371005535125732,
                "transform": {
                    "location": {
                        "x": 211.21116638183594,
                        "y": 5587.65283203125,
                        "z": 365.43646240234375
                    },
                    "rotation": {
                        "roll": -0.28149405121803284,
                        "pitch": -0.7407203316688538,
                        "yaw": 15.556724548339844
                    }
                },
                "velocity": {
                    "x": 4.9493536949157715,
                    "y": 2.081115484237671,
                    "z": -0.14338183403015137
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 253.21156311035156,
                        "y": 5583.34423828125,
                        "z": 365.6643371582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7258509993553162,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.36972713470459,
                "transform": {
                    "location": {
                        "x": 243.9938201904297,
                        "y": 5586.6884765625,
                        "z": 365.6031494140625
                    },
                    "rotation": {
                        "roll": 0.00032808497780933976,
                        "pitch": 0.48785990476608276,
                        "yaw": -0.1353759765625
                    }
                },
                "velocity": {
                    "x": 13.369219779968262,
                    "y": -0.030822400003671646,
                    "z": 0.11232684552669525
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001386381103657186,
                "transform": {
                    "location": {
                        "x": 116.15265655517578,
                        "y": 5577.1455078125,
                        "z": 366.5661926269531
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": 0.9711640477180481,
                        "yaw": 179.8624725341797
                    }
                },
                "velocity": {
                    "x": 5.169898213353008e-05,
                    "y": -1.7952894268091768e-05,
                    "z": 0.0013853005366399884
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007997838547453284,
                "transform": {
                    "location": {
                        "x": 115.80773162841797,
                        "y": 5580.39599609375,
                        "z": 366.56097412109375
                    },
                    "rotation": {
                        "roll": -9.155284351436421e-05,
                        "pitch": 0.9589107036590576,
                        "yaw": 179.862548828125
                    }
                },
                "velocity": {
                    "x": 4.3543426727410406e-05,
                    "y": -3.2800853659864515e-05,
                    "z": 0.0007979237125255167
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.38073381781578064,
        "expert_target_speed": 10.0,
        "target_point": [
            19.491009875113935,
            -0.22895963145315568
        ],
        "target_point_next": [
            20.490971581001613,
            -0.21987408123943275
        ]
    },
    "725": {
        "acceleration": [
            -1.4290809631347656,
            0.082797110080719,
            0.02774164080619812
        ],
        "angular_velocity": [
            -0.031590670347213745,
            -0.18862782418727875,
            -0.5251924991607666
        ],
        "forward_vector": [
            -0.9997472167015076,
            0.014367710798978806,
            0.01729425974190235
        ],
        "right_vector": [
            -0.014374051243066788,
            -0.9998967051506042,
            -0.00024238550395239145
        ],
        "location": [
            175.4929656982422,
            5579.8671875,
            365.64361572265625
        ],
        "rotation": [
            0.013889743015170097,
            0.9909374713897705,
            179.1766357421875
        ],
        "velocity": [
            -6.861075401306152,
            0.10859297215938568,
            0.09460273385047913
        ],
        "speed": 6.861934719597002,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.69462585449219,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80773162841797,
                5580.39599609375,
                366.56097412109375
            ],
            "velocity": [
                5.299255280988291e-05,
                5.375138698582305e-06,
                0.0015389344189316034
            ],
            "speed_kmh": 0.005543481305199855,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5121,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.808365821838379,
                "transform": {
                    "location": {
                        "x": 208.13609313964844,
                        "y": 5576.9248046875,
                        "z": 365.8465576171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03673958405852318,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": -6.790375232696533,
                    "y": 0.016315234825015068,
                    "z": -0.49435386061668396
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5120,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.50185489654541,
                "transform": {
                    "location": {
                        "x": 207.94195556640625,
                        "y": 5580.17529296875,
                        "z": 365.80718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03673958405852318,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": -5.41322660446167,
                    "y": 0.013006352819502354,
                    "z": -0.9834707975387573
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.746645450592041,
                "transform": {
                    "location": {
                        "x": 192.84695434570312,
                        "y": 5580.1162109375,
                        "z": 365.4674072265625
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": 0.34217196702957153,
                        "yaw": -179.7654266357422
                    }
                },
                "velocity": {
                    "x": -5.746593475341797,
                    "y": -0.002385315950959921,
                    "z": 0.024285906925797462
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.272848129272461,
                "transform": {
                    "location": {
                        "x": 192.59194946289062,
                        "y": 5576.8681640625,
                        "z": 365.4635314941406
                    },
                    "rotation": {
                        "roll": 0.0006880791625007987,
                        "pitch": 0.3158279359340668,
                        "yaw": 179.94146728515625
                    }
                },
                "velocity": {
                    "x": -10.272736549377441,
                    "y": 0.01236705668270588,
                    "z": 0.04628390073776245
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.9878323078155518,
                "transform": {
                    "location": {
                        "x": 168.50914001464844,
                        "y": 5586.85107421875,
                        "z": 365.74627685546875
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": -0.5487031936645508,
                        "yaw": -0.1087341234087944
                    }
                },
                "velocity": {
                    "x": 2.9875383377075195,
                    "y": -0.001599038951098919,
                    "z": -0.04187585413455963
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.058308601379395,
                "transform": {
                    "location": {
                        "x": 180.58265686035156,
                        "y": 5583.59228515625,
                        "z": 365.5836181640625
                    },
                    "rotation": {
                        "roll": 0.0002861448156181723,
                        "pitch": -0.7641956806182861,
                        "yaw": -0.1203307956457138
                    }
                },
                "velocity": {
                    "x": 8.057644844055176,
                    "y": -0.01773417741060257,
                    "z": -0.10185832530260086
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.8499627113342285,
                "transform": {
                    "location": {
                        "x": 184.96429443359375,
                        "y": 5586.8212890625,
                        "z": 365.5314025878906
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": -0.6896988153457642,
                        "yaw": 0.0034581120125949383
                    }
                },
                "velocity": {
                    "x": 5.849715232849121,
                    "y": -0.003891377942636609,
                    "z": -0.05361948534846306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.4674248695373535,
                "transform": {
                    "location": {
                        "x": 198.94015502929688,
                        "y": 5586.79345703125,
                        "z": 365.4906921386719
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": -0.07202433794736862,
                        "yaw": 0.2840344309806824
                    }
                },
                "velocity": {
                    "x": 4.467418193817139,
                    "y": -0.007386374287307262,
                    "z": 0.0023268412332981825
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.244465351104736,
                "transform": {
                    "location": {
                        "x": 203.37890625,
                        "y": 5583.5322265625,
                        "z": 365.4527282714844
                    },
                    "rotation": {
                        "roll": 0.0006587725947611034,
                        "pitch": 0.037463586777448654,
                        "yaw": -0.2610168159008026
                    }
                },
                "velocity": {
                    "x": 5.244380474090576,
                    "y": -0.02967899665236473,
                    "z": 0.0026129435282200575
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.492931365966797,
                "transform": {
                    "location": {
                        "x": 217.53187561035156,
                        "y": 5574.515625,
                        "z": 365.4714050292969
                    },
                    "rotation": {
                        "roll": 1.5330209732055664,
                        "pitch": 0.45148229598999023,
                        "yaw": -77.7345962524414
                    }
                },
                "velocity": {
                    "x": 2.197331190109253,
                    "y": -11.280474662780762,
                    "z": 0.10047116875648499
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.752054691314697,
                "transform": {
                    "location": {
                        "x": 212.4421844482422,
                        "y": 5588.244140625,
                        "z": 365.4049072265625
                    },
                    "rotation": {
                        "roll": -0.7335203886032104,
                        "pitch": -1.6730000972747803,
                        "yaw": 25.113037109375
                    }
                },
                "velocity": {
                    "x": 4.6904754638671875,
                    "y": 3.3266191482543945,
                    "z": -0.1384824514389038
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5102,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 256.68328857421875,
                        "y": 5583.31591796875,
                        "z": 365.71038818359375
                    },
                    "rotation": {
                        "roll": 1.0423147067673e-10,
                        "pitch": 0.8347173929214478,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 247.38742065429688,
                        "y": 5586.6416015625,
                        "z": 365.6218566894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6169778108596802,
                        "yaw": -0.1376648098230362
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000631359638646245,
                "transform": {
                    "location": {
                        "x": 116.15265655517578,
                        "y": 5577.1455078125,
                        "z": 366.5661926269531
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": 0.9711640477180481,
                        "yaw": 179.8624725341797
                    }
                },
                "velocity": {
                    "x": 4.137545693083666e-05,
                    "y": -2.079993464576546e-05,
                    "z": 0.0006296589854173362
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0015398559626191854,
                "transform": {
                    "location": {
                        "x": 115.80773162841797,
                        "y": 5580.39599609375,
                        "z": 366.56097412109375
                    },
                    "rotation": {
                        "roll": -9.155284351436421e-05,
                        "pitch": 0.9589107036590576,
                        "yaw": 179.862548828125
                    }
                },
                "velocity": {
                    "x": 5.299255280988291e-05,
                    "y": 5.375138698582305e-06,
                    "z": 0.0015389344189316034
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3136032521724701,
        "expert_target_speed": 10.0,
        "target_point": [
            17.813822619856147,
            -0.17324212712960085
        ],
        "target_point_next": [
            18.813754455547755,
            -0.1613138231895419
        ]
    },
    "730": {
        "acceleration": [
            -0.7929325103759766,
            0.04070550203323364,
            0.019588470458984375
        ],
        "angular_velocity": [
            -0.028889304026961327,
            -0.11941219121217728,
            -0.2907629907131195
        ],
        "forward_vector": [
            -0.9997329115867615,
            0.016069039702415466,
            0.016607234254479408
        ],
        "right_vector": [
            -0.016072915866971016,
            -0.9998708367347717,
            -9.988027886720374e-05
        ],
        "location": [
            173.7449188232422,
            5579.8955078125,
            365.66802978515625
        ],
        "rotation": [
            0.005723508074879646,
            0.9515682458877563,
            179.0791473388672
        ],
        "velocity": [
            -7.11683988571167,
            0.11996497958898544,
            0.09763913601636887
        ],
        "speed": 7.117850908468389,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.946231842041016,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80773162841797,
                5580.39599609375,
                366.56097412109375
            ],
            "velocity": [
                3.825858220807277e-05,
                1.1617846212175209e-05,
                0.0007258428959175944
            ],
            "speed_kmh": 0.002616995983012429,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5121,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.885586261749268,
                "transform": {
                    "location": {
                        "x": 206.44866943359375,
                        "y": 5576.92724609375,
                        "z": 365.447265625
                    },
                    "rotation": {
                        "roll": -0.015289302915334702,
                        "pitch": -0.0612531341612339,
                        "yaw": 179.92127990722656
                    }
                },
                "velocity": {
                    "x": -6.773027420043945,
                    "y": -0.026596400886774063,
                    "z": -1.23963463306427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5120,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.08588171005249,
                "transform": {
                    "location": {
                        "x": 206.61444091796875,
                        "y": 5580.1748046875,
                        "z": 365.4059753417969
                    },
                    "rotation": {
                        "roll": -0.012115475721657276,
                        "pitch": -0.055024001747369766,
                        "yaw": -179.9835662841797
                    }
                },
                "velocity": {
                    "x": -5.070775032043457,
                    "y": -0.0666707381606102,
                    "z": -0.38599061965942383
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.199129581451416,
                "transform": {
                    "location": {
                        "x": 191.31304931640625,
                        "y": 5580.1162109375,
                        "z": 365.4752197265625
                    },
                    "rotation": {
                        "roll": 0.003720249980688095,
                        "pitch": 0.5053861737251282,
                        "yaw": -179.90939331054688
                    }
                },
                "velocity": {
                    "x": -7.199028968811035,
                    "y": 0.0019690042827278376,
                    "z": 0.03798564895987511
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.116286277770996,
                "transform": {
                    "location": {
                        "x": 189.91461181640625,
                        "y": 5576.87109375,
                        "z": 365.4787292480469
                    },
                    "rotation": {
                        "roll": 0.0009136534645222127,
                        "pitch": 0.388815313577652,
                        "yaw": 179.9139404296875
                    }
                },
                "velocity": {
                    "x": -11.115966796875,
                    "y": 0.01798292063176632,
                    "z": 0.08229297399520874
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.525012016296387,
                "transform": {
                    "location": {
                        "x": 169.46109008789062,
                        "y": 5586.85107421875,
                        "z": 365.73297119140625
                    },
                    "rotation": {
                        "roll": -0.0021972651593387127,
                        "pitch": -0.4905714690685272,
                        "yaw": -0.0640868991613388
                    }
                },
                "velocity": {
                    "x": 4.5245795249938965,
                    "y": -0.0009150059195235372,
                    "z": -0.06255526840686798
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.864762783050537,
                "transform": {
                    "location": {
                        "x": 182.57749938964844,
                        "y": 5583.58740234375,
                        "z": 365.55853271484375
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.7270462512969971,
                        "yaw": -0.1294250339269638
                    }
                },
                "velocity": {
                    "x": 7.864136219024658,
                    "y": -0.017661316320300102,
                    "z": -0.09769085794687271
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.079308032989502,
                "transform": {
                    "location": {
                        "x": 186.5155487060547,
                        "y": 5586.81982421875,
                        "z": 365.5167236328125
                    },
                    "rotation": {
                        "roll": -0.000823974609375,
                        "pitch": -0.6346133351325989,
                        "yaw": -0.02072143368422985
                    }
                },
                "velocity": {
                    "x": 7.078995704650879,
                    "y": -0.009398851543664932,
                    "z": -0.06584004312753677
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.275181293487549,
                "transform": {
                    "location": {
                        "x": 200.21131896972656,
                        "y": 5586.79345703125,
                        "z": 365.4898376464844
                    },
                    "rotation": {
                        "roll": 0.0016450530383735895,
                        "pitch": 0.08879245072603226,
                        "yaw": 0.03492707014083862
                    }
                },
                "velocity": {
                    "x": 5.275173187255859,
                    "y": -0.009134153835475445,
                    "z": 0.0006492423708550632
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.9319891929626465,
                "transform": {
                    "location": {
                        "x": 204.6613311767578,
                        "y": 5583.525390625,
                        "z": 365.45355224609375
                    },
                    "rotation": {
                        "roll": 0.00047786536742933095,
                        "pitch": 0.0314803384244442,
                        "yaw": -0.3100280463695526
                    }
                },
                "velocity": {
                    "x": 4.931899547576904,
                    "y": -0.029527878388762474,
                    "z": 0.003470048774033785
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.458255767822266,
                "transform": {
                    "location": {
                        "x": 217.87460327148438,
                        "y": 5571.53857421875,
                        "z": 365.4881591796875
                    },
                    "rotation": {
                        "roll": 1.4208086729049683,
                        "pitch": 0.6187604665756226,
                        "yaw": -86.69713592529297
                    }
                },
                "velocity": {
                    "x": 0.6124057173728943,
                    "y": -12.442924499511719,
                    "z": 0.0820341482758522
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.5164570808410645,
                "transform": {
                    "location": {
                        "x": 213.6306915283203,
                        "y": 5589.18359375,
                        "z": 365.3832702636719
                    },
                    "rotation": {
                        "roll": -0.48883047699928284,
                        "pitch": -1.7340073585510254,
                        "yaw": 39.89759826660156
                    }
                },
                "velocity": {
                    "x": 4.017582893371582,
                    "y": 5.12961483001709,
                    "z": -0.10145185142755508
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5101,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 250.85858154296875,
                        "y": 5586.57470703125,
                        "z": 365.63818359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7258509993553162,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.067172166192904e-05,
                "transform": {
                    "location": {
                        "x": 116.15265655517578,
                        "y": 5577.1455078125,
                        "z": 366.5661926269531
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": 0.9708566665649414,
                        "yaw": 179.8627471923828
                    }
                },
                "velocity": {
                    "x": 2.7999431040370837e-05,
                    "y": 1.0279191883455496e-05,
                    "z": 7.49553000787273e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5850152969360352,
                "transform": {
                    "location": {
                        "x": 105.41671752929688,
                        "y": 5577.17041015625,
                        "z": 366.7563171386719
                    },
                    "rotation": {
                        "roll": 0.00038645375752821565,
                        "pitch": 0.9015917778015137,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": -0.008396447636187077,
                    "y": -3.02350235870108e-05,
                    "z": -0.5849550366401672
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007269433117471635,
                "transform": {
                    "location": {
                        "x": 115.80773162841797,
                        "y": 5580.39599609375,
                        "z": 366.56097412109375
                    },
                    "rotation": {
                        "roll": 0.0007962248055264354,
                        "pitch": 0.9592112302780151,
                        "yaw": 179.86277770996094
                    }
                },
                "velocity": {
                    "x": 3.825858220807277e-05,
                    "y": 1.1617846212175209e-05,
                    "z": 0.0007258428959175944
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5844146609306335,
                "transform": {
                    "location": {
                        "x": 105.42453002929688,
                        "y": 5580.42041015625,
                        "z": 366.7563171386719
                    },
                    "rotation": {
                        "roll": 0.0005097127286717296,
                        "pitch": 0.902848482131958,
                        "yaw": 179.86233520507812
                    }
                },
                "velocity": {
                    "x": -0.008381719700992107,
                    "y": 0.00014864985132589936,
                    "z": -0.5843545198440552
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3093930780887604,
        "expert_target_speed": 10.0,
        "target_point": [
            16.065815396208794,
            -0.1427021289881839
        ],
        "target_point_next": [
            17.065725483926318,
            -0.1290721273296747
        ]
    },
    "735": {
        "acceleration": [
            -1.426239013671875,
            0.06690055131912231,
            0.021836459636688232
        ],
        "angular_velocity": [
            -0.03988244757056236,
            0.02724478952586651,
            -0.3029739558696747
        ],
        "forward_vector": [
            -0.9997143149375916,
            0.017361676320433617,
            0.016429517418146133
        ],
        "right_vector": [
            -0.017364654690027237,
            -0.999849259853363,
            -3.860978176817298e-05
        ],
        "location": [
            171.92703247070312,
            5579.92724609375,
            365.6931457519531
        ],
        "rotation": [
            0.00221247598528862,
            0.9413844347000122,
            179.00506591796875
        ],
        "velocity": [
            -7.414671897888184,
            0.1344205141067505,
            0.10202991217374802
        ],
        "speed": 7.415890251881124,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.127967834472656,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80773162841797,
                5580.39599609375,
                366.56097412109375
            ],
            "velocity": [
                3.5494267649482936e-05,
                -1.2319292181928176e-05,
                0.0004717583942692727
            ],
            "speed_kmh": 0.0017037077136789918,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5121,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.472991466522217,
                "transform": {
                    "location": {
                        "x": 204.80819702148438,
                        "y": 5576.91552734375,
                        "z": 365.4320373535156
                    },
                    "rotation": {
                        "roll": -0.008941650390625,
                        "pitch": -0.049833059310913086,
                        "yaw": -179.67791748046875
                    }
                },
                "velocity": {
                    "x": -6.471161365509033,
                    "y": -0.04122402146458626,
                    "z": 0.14828738570213318
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5120,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.310421943664551,
                "transform": {
                    "location": {
                        "x": 205.31686401367188,
                        "y": 5580.16162109375,
                        "z": 365.4284362792969
                    },
                    "rotation": {
                        "roll": 0.0011493624188005924,
                        "pitch": -0.03872717171907425,
                        "yaw": -179.60443115234375
                    }
                },
                "velocity": {
                    "x": -5.308829307556152,
                    "y": -0.038942884653806686,
                    "z": 0.12408069521188736
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.341565132141113,
                "transform": {
                    "location": {
                        "x": 189.34242248535156,
                        "y": 5580.11865234375,
                        "z": 365.4880676269531
                    },
                    "rotation": {
                        "roll": 0.006918265484273434,
                        "pitch": 0.6273664832115173,
                        "yaw": 179.93331909179688
                    }
                },
                "velocity": {
                    "x": -8.341382026672363,
                    "y": 0.014104295521974564,
                    "z": 0.05343608558177948
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.038707733154297,
                "transform": {
                    "location": {
                        "x": 187.0154571533203,
                        "y": 5576.876953125,
                        "z": 365.50054931640625
                    },
                    "rotation": {
                        "roll": 0.0005043157143518329,
                        "pitch": 0.5312589406967163,
                        "yaw": 179.8861083984375
                    }
                },
                "velocity": {
                    "x": -12.03823471069336,
                    "y": 0.024549590423703194,
                    "z": 0.10387162864208221
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.397963523864746,
                "transform": {
                    "location": {
                        "x": 170.74827575683594,
                        "y": 5586.85107421875,
                        "z": 365.7154541015625
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": -0.5855110883712769,
                        "yaw": -0.011474608443677425
                    }
                },
                "velocity": {
                    "x": 5.397451877593994,
                    "y": -0.0006139628239907324,
                    "z": -0.07430311292409897
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.471628189086914,
                "transform": {
                    "location": {
                        "x": 184.49273681640625,
                        "y": 5583.5830078125,
                        "z": 365.5365295410156
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": -0.7378789782524109,
                        "yaw": -0.1304931640625
                    }
                },
                "velocity": {
                    "x": 7.471227169036865,
                    "y": -0.016949575394392014,
                    "z": -0.07553756237030029
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.540716648101807,
                "transform": {
                    "location": {
                        "x": 188.25811767578125,
                        "y": 5586.8173828125,
                        "z": 365.49993896484375
                    },
                    "rotation": {
                        "roll": -0.0010986326960846782,
                        "pitch": -0.4592004120349884,
                        "yaw": -0.0654601976275444
                    }
                },
                "velocity": {
                    "x": 6.540487289428711,
                    "y": -0.010113177821040154,
                    "z": -0.05382061377167702
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.722559452056885,
                "transform": {
                    "location": {
                        "x": 201.59085083007812,
                        "y": 5586.79248046875,
                        "z": 365.4903869628906
                    },
                    "rotation": {
                        "roll": 0.001770439208485186,
                        "pitch": 0.0923919603228569,
                        "yaw": -0.11587522178888321
                    }
                },
                "velocity": {
                    "x": 5.722545623779297,
                    "y": -0.012399355880916119,
                    "z": 0.002633485710248351
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.650049209594727,
                "transform": {
                    "location": {
                        "x": 205.8660888671875,
                        "y": 5583.51806640625,
                        "z": 365.45416259765625
                    },
                    "rotation": {
                        "roll": 0.0005827340064570308,
                        "pitch": 0.029199056327342987,
                        "yaw": -0.330322265625
                    }
                },
                "velocity": {
                    "x": 4.64996337890625,
                    "y": -0.028170518577098846,
                    "z": 0.002349586458876729
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.398591995239258,
                "transform": {
                    "location": {
                        "x": 217.9022674560547,
                        "y": 5568.2978515625,
                        "z": 365.5125732421875
                    },
                    "rotation": {
                        "roll": 0.8562561273574829,
                        "pitch": 0.6609983444213867,
                        "yaw": -91.41857147216797
                    }
                },
                "velocity": {
                    "x": -0.27351146936416626,
                    "y": -13.395373344421387,
                    "z": 0.10694362223148346
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.435849666595459,
                "transform": {
                    "location": {
                        "x": 214.642333984375,
                        "y": 5590.57421875,
                        "z": 365.3437805175781
                    },
                    "rotation": {
                        "roll": -0.49615478515625,
                        "pitch": -0.6264649033546448,
                        "yaw": 58.385520935058594
                    }
                },
                "velocity": {
                    "x": 3.0356733798980713,
                    "y": 6.787241458892822,
                    "z": -0.09950946271419525
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0008462127298116684,
                "transform": {
                    "location": {
                        "x": 116.15265655517578,
                        "y": 5577.1455078125,
                        "z": 366.5661926269531
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": 0.9708566665649414,
                        "yaw": 179.8627471923828
                    }
                },
                "velocity": {
                    "x": 4.323109897086397e-05,
                    "y": 1.0660084626579192e-05,
                    "z": 0.0008450404857285321
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.02857590653002262,
                "transform": {
                    "location": {
                        "x": 105.41632843017578,
                        "y": 5577.17041015625,
                        "z": 366.7299499511719
                    },
                    "rotation": {
                        "roll": 0.001027233200147748,
                        "pitch": 0.9097811579704285,
                        "yaw": 179.86236572265625
                    }
                },
                "velocity": {
                    "x": 0.0004866911331191659,
                    "y": -0.00014766155800316483,
                    "z": 0.02857138030230999
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00047325214836746454,
                "transform": {
                    "location": {
                        "x": 115.80773162841797,
                        "y": 5580.39599609375,
                        "z": 366.56097412109375
                    },
                    "rotation": {
                        "roll": 0.0006227021804079413,
                        "pitch": 0.9592726826667786,
                        "yaw": 179.8628387451172
                    }
                },
                "velocity": {
                    "x": 3.5494267649482936e-05,
                    "y": -1.2319292181928176e-05,
                    "z": 0.0004717583942692727
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.028660841286182404,
                "transform": {
                    "location": {
                        "x": 105.42405700683594,
                        "y": 5580.42041015625,
                        "z": 366.72998046875
                    },
                    "rotation": {
                        "roll": 0.0006484687910415232,
                        "pitch": 0.9118984937667847,
                        "yaw": 179.86244201660156
                    }
                },
                "velocity": {
                    "x": 0.0004638954997062683,
                    "y": -7.899506454123184e-05,
                    "z": 0.0286569781601429
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.25187310576438904,
        "expert_target_speed": 10.0,
        "target_point": [
            14.24782306305912,
            -0.12176523372361336
        ],
        "target_point_next": [
            15.247714695734393,
            -0.10684265450778757
        ]
    },
    "740": {
        "acceleration": [
            -0.81451416015625,
            0.05195021629333496,
            0.004327744245529175
        ],
        "angular_velocity": [
            0.00571813527494669,
            -0.06477994471788406,
            -0.29698553681373596
        ],
        "forward_vector": [
            -0.9996913075447083,
            0.018684282898902893,
            0.016373617574572563
        ],
        "right_vector": [
            -0.018687188625335693,
            -0.9998253583908081,
            -2.4510618459316902e-05
        ],
        "location": [
            170.03858947753906,
            5579.96240234375,
            365.7193298339844
        ],
        "rotation": [
            0.0014045432908460498,
            0.9381811022758484,
            178.92926025390625
        ],
        "velocity": [
            -7.681097984313965,
            0.14897270500659943,
            0.10587714612483978
        ],
        "speed": 7.6825424900529535,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.23912048339844,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80773162841797,
                5580.39599609375,
                366.56097412109375
            ],
            "velocity": [
                5.2257029892643914e-05,
                2.2242136310524074e-07,
                0.0014549136394634843
            ],
            "speed_kmh": 0.00524106658061504,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5121,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.6267852783203125,
                "transform": {
                    "location": {
                        "x": 203.28366088867188,
                        "y": 5576.9052734375,
                        "z": 365.4517517089844
                    },
                    "rotation": {
                        "roll": -0.002990721957758069,
                        "pitch": -0.1568894386291504,
                        "yaw": -179.62843322753906
                    }
                },
                "velocity": {
                    "x": -5.626574993133545,
                    "y": -0.03733064979314804,
                    "z": 0.031165361404418945
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5120,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.5345892906188965,
                "transform": {
                    "location": {
                        "x": 204.118896484375,
                        "y": 5580.154296875,
                        "z": 365.4440612792969
                    },
                    "rotation": {
                        "roll": 0.00128849595785141,
                        "pitch": -0.06579520553350449,
                        "yaw": -179.60263061523438
                    }
                },
                "velocity": {
                    "x": -4.534442901611328,
                    "y": -0.027959175407886505,
                    "z": 0.02333584800362587
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.7129902839660645,
                "transform": {
                    "location": {
                        "x": 187.30859375,
                        "y": 5580.123046875,
                        "z": 365.5029602050781
                    },
                    "rotation": {
                        "roll": 0.0035881143994629383,
                        "pitch": 0.4704838991165161,
                        "yaw": 179.86642456054688
                    }
                },
                "velocity": {
                    "x": -7.7126688957214355,
                    "y": 0.018551867455244064,
                    "z": 0.06794460117816925
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.534095764160156,
                "transform": {
                    "location": {
                        "x": 183.94882202148438,
                        "y": 5576.88232421875,
                        "z": 365.5314636230469
                    },
                    "rotation": {
                        "roll": 0.0005640665767714381,
                        "pitch": 0.6896714568138123,
                        "yaw": 179.87847900390625
                    }
                },
                "velocity": {
                    "x": -12.533289909362793,
                    "y": 0.026086466386914253,
                    "z": 0.13962070643901825
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.7803874015808105,
                "transform": {
                    "location": {
                        "x": 172.1288299560547,
                        "y": 5586.8505859375,
                        "z": 365.69622802734375
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": -0.7105991840362549,
                        "yaw": -0.044342041015625
                    }
                },
                "velocity": {
                    "x": 5.779838562011719,
                    "y": -0.0035696905106306076,
                    "z": -0.07956589758396149
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.226109981536865,
                "transform": {
                    "location": {
                        "x": 186.32765197753906,
                        "y": 5583.5791015625,
                        "z": 365.518310546875
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.5993080735206604,
                        "yaw": -0.13067626953125
                    }
                },
                "velocity": {
                    "x": 7.225795745849609,
                    "y": -0.01643986999988556,
                    "z": -0.06533388793468475
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.710724353790283,
                "transform": {
                    "location": {
                        "x": 189.728515625,
                        "y": 5586.8154296875,
                        "z": 365.4886779785156
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.2697787880897522,
                        "yaw": -0.075531005859375
                    }
                },
                "velocity": {
                    "x": 4.710629940032959,
                    "y": -0.006385799963027239,
                    "z": -0.02916417457163334
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.530517101287842,
                "transform": {
                    "location": {
                        "x": 202.75,
                        "y": 5586.7900390625,
                        "z": 365.4919738769531
                    },
                    "rotation": {
                        "roll": 0.0013325578765943646,
                        "pitch": -0.042784303426742554,
                        "yaw": -0.1299438327550888
                    }
                },
                "velocity": {
                    "x": 4.5304999351501465,
                    "y": -0.012108399532735348,
                    "z": 0.0031398104038089514
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.4292893409729,
                "transform": {
                    "location": {
                        "x": 206.99256896972656,
                        "y": 5583.46923828125,
                        "z": 365.4549255371094
                    },
                    "rotation": {
                        "roll": 0.027407709509134293,
                        "pitch": 0.030216755345463753,
                        "yaw": -1.9998778104782104
                    }
                },
                "velocity": {
                    "x": 4.403202056884766,
                    "y": -0.4800138771533966,
                    "z": 0.0019522093934938312
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.53337287902832,
                "transform": {
                    "location": {
                        "x": 217.7985076904297,
                        "y": 5564.9150390625,
                        "z": 365.53955078125
                    },
                    "rotation": {
                        "roll": 0.34852805733680725,
                        "pitch": 0.5298245549201965,
                        "yaw": -92.24906158447266
                    }
                },
                "velocity": {
                    "x": -0.5079501271247864,
                    "y": -13.523408889770508,
                    "z": 0.1076429933309555
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.2160062789917,
                "transform": {
                    "location": {
                        "x": 215.33241271972656,
                        "y": 5592.34716796875,
                        "z": 365.3215026855469
                    },
                    "rotation": {
                        "roll": -0.0766601487994194,
                        "pitch": -0.31921571493148804,
                        "yaw": 76.04759979248047
                    }
                },
                "velocity": {
                    "x": 1.3952325582504272,
                    "y": 8.096479415893555,
                    "z": -0.05578748881816864
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005325163947418332,
                "transform": {
                    "location": {
                        "x": 116.15265655517578,
                        "y": 5577.1455078125,
                        "z": 366.5661926269531
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": 0.9708566665649414,
                        "yaw": 179.8627471923828
                    }
                },
                "velocity": {
                    "x": 4.793748303200118e-05,
                    "y": 4.915657882520463e-06,
                    "z": 0.0005303315119817853
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.01210565585643053,
                "transform": {
                    "location": {
                        "x": 105.41632843017578,
                        "y": 5577.17041015625,
                        "z": 366.73529052734375
                    },
                    "rotation": {
                        "roll": 0.00035075328196398914,
                        "pitch": 0.9087566137313843,
                        "yaw": 179.86245727539062
                    }
                },
                "velocity": {
                    "x": 0.00023978053650353104,
                    "y": 5.232316834735684e-05,
                    "z": 0.012103167362511158
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0014558518305420876,
                "transform": {
                    "location": {
                        "x": 115.80773162841797,
                        "y": 5580.39599609375,
                        "z": 366.56097412109375
                    },
                    "rotation": {
                        "roll": 0.0006338138482533395,
                        "pitch": 0.958733081817627,
                        "yaw": 179.86288452148438
                    }
                },
                "velocity": {
                    "x": 5.2257029892643914e-05,
                    "y": 2.2242136310524074e-07,
                    "z": 0.0014549136394634843
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.01235884241759777,
                "transform": {
                    "location": {
                        "x": 105.42414093017578,
                        "y": 5580.42041015625,
                        "z": 366.7353515625
                    },
                    "rotation": {
                        "roll": 0.00043144909432157874,
                        "pitch": 0.9104914665222168,
                        "yaw": 179.86245727539062
                    }
                },
                "velocity": {
                    "x": 0.0001880891650216654,
                    "y": -0.00017326379020232707,
                    "z": 0.012356196530163288
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2283715158700943,
        "expert_target_speed": 10.0,
        "target_point": [
            12.359201508815506,
            -0.10305059934411273
        ],
        "target_point_next": [
            13.359072520230097,
            -0.08680495385863798
        ]
    },
    "745": {
        "acceleration": [
            -1.3936138153076172,
            0.07568985223770142,
            0.036043524742126465
        ],
        "angular_velocity": [
            -0.025956017896533012,
            0.05763484910130501,
            -0.32935813069343567
        ],
        "forward_vector": [
            -0.9996642470359802,
            0.02005736157298088,
            0.016402579843997955
        ],
        "right_vector": [
            -0.02006014995276928,
            -0.9997987747192383,
            -5.482535470946459e-06
        ],
        "location": [
            168.08045959472656,
            5580.0009765625,
            365.74652099609375
        ],
        "rotation": [
            0.0003141683991998434,
            0.9398407936096191,
            178.85057067871094
        ],
        "velocity": [
            -7.971353054046631,
            0.1655331403017044,
            0.11138133704662323
        ],
        "speed": 7.973071599628132,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.28056335449219,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80773162841797,
                5580.39599609375,
                366.56097412109375
            ],
            "velocity": [
                4.1916817281162366e-05,
                1.4307789570011664e-05,
                0.0009023107122629881
            ],
            "speed_kmh": 0.0032522296269263677,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5121,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.780297756195068,
                "transform": {
                    "location": {
                        "x": 201.87452697753906,
                        "y": 5576.89599609375,
                        "z": 365.4551086425781
                    },
                    "rotation": {
                        "roll": -0.0017089842585846782,
                        "pitch": -0.04190320894122124,
                        "yaw": -179.611328125
                    }
                },
                "velocity": {
                    "x": -5.780160427093506,
                    "y": -0.039741966873407364,
                    "z": 0.002882585395127535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5120,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.26589298248291,
                "transform": {
                    "location": {
                        "x": 202.89703369140625,
                        "y": 5580.14794921875,
                        "z": 365.4458923339844
                    },
                    "rotation": {
                        "roll": 0.0006126659573055804,
                        "pitch": -0.011078566312789917,
                        "yaw": -179.37399291992188
                    }
                },
                "velocity": {
                    "x": -5.265780925750732,
                    "y": -0.03434703126549721,
                    "z": 0.0007085800170898438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.402962684631348,
                "transform": {
                    "location": {
                        "x": 185.45249938964844,
                        "y": 5580.12744140625,
                        "z": 365.5209655761719
                    },
                    "rotation": {
                        "roll": 0.0023188870400190353,
                        "pitch": 0.5359512567520142,
                        "yaw": 179.8552703857422
                    }
                },
                "velocity": {
                    "x": -7.4025444984436035,
                    "y": 0.018584804609417915,
                    "z": 0.07644281536340714
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.192219734191895,
                "transform": {
                    "location": {
                        "x": 180.72225952148438,
                        "y": 5576.8896484375,
                        "z": 365.5711364746094
                    },
                    "rotation": {
                        "roll": 0.0009484449401497841,
                        "pitch": 0.756860077381134,
                        "yaw": 179.8683624267578
                    }
                },
                "velocity": {
                    "x": -13.190982818603516,
                    "y": 0.031224621459841728,
                    "z": 0.17791129648685455
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.231749534606934,
                "transform": {
                    "location": {
                        "x": 173.9480438232422,
                        "y": 5586.84814453125,
                        "z": 365.6711120605469
                    },
                    "rotation": {
                        "roll": 0.0007137061329558492,
                        "pitch": -0.41171011328697205,
                        "yaw": -0.0952758714556694
                    }
                },
                "velocity": {
                    "x": 8.23095703125,
                    "y": -0.011019574478268623,
                    "z": -0.11368515342473984
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.973104476928711,
                "transform": {
                    "location": {
                        "x": 188.10211181640625,
                        "y": 5583.57568359375,
                        "z": 365.5018615722656
                    },
                    "rotation": {
                        "roll": 0.0005019301315769553,
                        "pitch": -0.49984005093574524,
                        "yaw": -0.135711669921875
                    }
                },
                "velocity": {
                    "x": 6.972844123840332,
                    "y": -0.017328234389424324,
                    "z": -0.05765962600708008
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0020189376082271338,
                "transform": {
                    "location": {
                        "x": 190.2352294921875,
                        "y": 5586.81494140625,
                        "z": 365.4831237792969
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": 0.07946241647005081,
                        "yaw": -0.0774230808019638
                    }
                },
                "velocity": {
                    "x": -0.0005080762202851474,
                    "y": -0.0002281114284414798,
                    "z": 0.0019406011560931802
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.868646144866943,
                "transform": {
                    "location": {
                        "x": 203.9921875,
                        "y": 5586.78662109375,
                        "z": 365.4921875
                    },
                    "rotation": {
                        "roll": 0.0008148810593411326,
                        "pitch": 0.04695754870772362,
                        "yaw": -0.1354369968175888
                    }
                },
                "velocity": {
                    "x": 4.868632793426514,
                    "y": -0.0113877784460783,
                    "z": 0.00103502266574651
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.24444055557251,
                "transform": {
                    "location": {
                        "x": 208.07086181640625,
                        "y": 5583.35791015625,
                        "z": 365.4529113769531
                    },
                    "rotation": {
                        "roll": 0.04972240328788757,
                        "pitch": -0.09711162745952606,
                        "yaw": -4.470918655395508
                    }
                },
                "velocity": {
                    "x": 4.208623886108398,
                    "y": -0.548919141292572,
                    "z": -0.038055889308452606
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.356109619140625,
                "transform": {
                    "location": {
                        "x": 217.67327880859375,
                        "y": 5561.56103515625,
                        "z": 365.56597900390625
                    },
                    "rotation": {
                        "roll": 0.08421410620212555,
                        "pitch": 0.4454854130744934,
                        "yaw": -92.11367797851562
                    }
                },
                "velocity": {
                    "x": -0.488800585269928,
                    "y": -13.346741676330566,
                    "z": 0.10600639134645462
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.309793472290039,
                "transform": {
                    "location": {
                        "x": 215.64398193359375,
                        "y": 5594.53857421875,
                        "z": 365.30780029296875
                    },
                    "rotation": {
                        "roll": -0.147186279296875,
                        "pitch": -0.3541862666606903,
                        "yaw": 89.47010803222656
                    }
                },
                "velocity": {
                    "x": 0.2282114028930664,
                    "y": 9.306788444519043,
                    "z": -0.06221665069460869
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001066685072146356,
                "transform": {
                    "location": {
                        "x": 116.15265655517578,
                        "y": 5577.1455078125,
                        "z": 366.5661926269531
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": 0.9708566665649414,
                        "yaw": 179.8627471923828
                    }
                },
                "velocity": {
                    "x": 5.5940894526429474e-05,
                    "y": 3.2159091460925993e-06,
                    "z": 0.0010652123019099236
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.002135542454198003,
                "transform": {
                    "location": {
                        "x": 105.41632843017578,
                        "y": 5577.17041015625,
                        "z": 366.7364807128906
                    },
                    "rotation": {
                        "roll": 0.0004073863965459168,
                        "pitch": 0.9089751839637756,
                        "yaw": 179.86248779296875
                    }
                },
                "velocity": {
                    "x": 4.1756928112590685e-05,
                    "y": 3.953414488933049e-05,
                    "z": 0.00213476805947721
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000903397100046277,
                "transform": {
                    "location": {
                        "x": 115.80773162841797,
                        "y": 5580.39599609375,
                        "z": 366.56097412109375
                    },
                    "rotation": {
                        "roll": 0.0011341031640768051,
                        "pitch": 0.959183931350708,
                        "yaw": 179.8629608154297
                    }
                },
                "velocity": {
                    "x": 4.1916817281162366e-05,
                    "y": 1.4307789570011664e-05,
                    "z": 0.0009023107122629881
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001832303125411272,
                "transform": {
                    "location": {
                        "x": 105.42414093017578,
                        "y": 5580.42041015625,
                        "z": 366.7364807128906
                    },
                    "rotation": {
                        "roll": 0.00022395519772544503,
                        "pitch": 0.9103002548217773,
                        "yaw": 179.862548828125
                    }
                },
                "velocity": {
                    "x": 0.00011475890642032027,
                    "y": -4.4419120968086645e-05,
                    "z": 0.001828166306950152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1806328147649765,
        "expert_target_speed": 10.0,
        "target_point": [
            10.400821709967193,
            -0.08679068705282686
        ],
        "target_point_next": [
            11.400669468547482,
            -0.06917194344124974
        ]
    },
    "750": {
        "acceleration": [
            -0.8358573913574219,
            0.061396658420562744,
            0.032286494970321655
        ],
        "angular_velocity": [
            -0.04357141628861427,
            -0.022252868860960007,
            -0.3212275207042694
        ],
        "forward_vector": [
            -0.9996326565742493,
            0.021467061713337898,
            0.016546089202165604
        ],
        "right_vector": [
            -0.021469974890351295,
            -0.9997695088386536,
            1.597698314981244e-06
        ],
        "location": [
            166.05311584472656,
            5580.044921875,
            365.7748107910156
        ],
        "rotation": [
            -9.155390580417588e-05,
            0.9480643272399902,
            178.76976013183594
        ],
        "velocity": [
            -8.236452102661133,
            0.1823108196258545,
            0.11552705615758896
        ],
        "speed": 8.238469546850535,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.25276184082031,
        "front_vehicle_info": {
            "id": 5097,
            "type": "vehicle.chevrolet.impala",
            "location": [
                115.80773162841797,
                5580.39599609375,
                366.56097412109375
            ],
            "velocity": [
                5.463510751724243e-05,
                -1.1295674084976781e-06,
                0.001601938740350306
            ],
            "speed_kmh": 0.005770333978510667,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 5121,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.511706352233887,
                "transform": {
                    "location": {
                        "x": 200.27734375,
                        "y": 5576.88623046875,
                        "z": 365.4552307128906
                    },
                    "rotation": {
                        "roll": 0.0066154347732663155,
                        "pitch": 0.19898389279842377,
                        "yaw": -179.6351318359375
                    }
                },
                "velocity": {
                    "x": -7.511627674102783,
                    "y": -0.03438242897391319,
                    "z": 0.0006378841353580356
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5120,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.109518527984619,
                "transform": {
                    "location": {
                        "x": 201.44976806640625,
                        "y": 5580.13818359375,
                        "z": 365.4453430175781
                    },
                    "rotation": {
                        "roll": 0.0005879426025785506,
                        "pitch": 0.0029506415594369173,
                        "yaw": -179.50308227539062
                    }
                },
                "velocity": {
                    "x": -6.109408378601074,
                    "y": -0.036593105643987656,
                    "z": -0.0028977012261748314
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.28435230255127,
                "transform": {
                    "location": {
                        "x": 183.49319458007812,
                        "y": 5580.13232421875,
                        "z": 365.5417175292969
                    },
                    "rotation": {
                        "roll": -0.00015258797793649137,
                        "pitch": 0.8042752146720886,
                        "yaw": 179.85955810546875
                    }
                },
                "velocity": {
                    "x": -8.283773422241211,
                    "y": 0.02058503031730652,
                    "z": 0.09572406858205795
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5118,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.678202629089355,
                "transform": {
                    "location": {
                        "x": 177.3603057861328,
                        "y": 5576.8974609375,
                        "z": 365.6167907714844
                    },
                    "rotation": {
                        "roll": 0.0007560406811535358,
                        "pitch": 0.8211662769317627,
                        "yaw": 179.86192321777344
                    }
                },
                "velocity": {
                    "x": -13.676814079284668,
                    "y": 0.03255441412329674,
                    "z": 0.19220700860023499
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5117,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.533224582672119,
                "transform": {
                    "location": {
                        "x": 175.95046997070312,
                        "y": 5586.8447265625,
                        "z": 365.643310546875
                    },
                    "rotation": {
                        "roll": 0.005768090486526489,
                        "pitch": -0.8049309253692627,
                        "yaw": -0.21014404296875
                    }
                },
                "velocity": {
                    "x": 7.532491683959961,
                    "y": -0.016212357208132744,
                    "z": -0.10383334755897522
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5116,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.765835285186768,
                "transform": {
                    "location": {
                        "x": 189.8192138671875,
                        "y": 5583.57177734375,
                        "z": 365.4900817871094
                    },
                    "rotation": {
                        "roll": -9.155269071925431e-05,
                        "pitch": -0.45034167170524597,
                        "yaw": -0.1408996284008026
                    }
                },
                "velocity": {
                    "x": 6.765711307525635,
                    "y": -0.01662895642220974,
                    "z": -0.03748929500579834
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5112,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1577930450439453,
                "transform": {
                    "location": {
                        "x": 190.4089813232422,
                        "y": 5586.814453125,
                        "z": 365.4856872558594
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": -0.34096986055374146,
                        "yaw": -0.062713623046875
                    }
                },
                "velocity": {
                    "x": 1.1577694416046143,
                    "y": -0.0022674736101180315,
                    "z": -0.007031221408396959
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5111,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.7023539543151855,
                "transform": {
                    "location": {
                        "x": 205.22125244140625,
                        "y": 5586.78369140625,
                        "z": 365.4931640625
                    },
                    "rotation": {
                        "roll": 0.00021821362315677106,
                        "pitch": 0.02021735906600952,
                        "yaw": -0.1358947902917862
                    }
                },
                "velocity": {
                    "x": 4.702340126037598,
                    "y": -0.011094452813267708,
                    "z": 0.002404003171250224
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5110,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.077438831329346,
                "transform": {
                    "location": {
                        "x": 209.09304809570312,
                        "y": 5583.22509765625,
                        "z": 365.44549560546875
                    },
                    "rotation": {
                        "roll": 0.0706273689866066,
                        "pitch": -0.43950897455215454,
                        "yaw": -6.35791540145874
                    }
                },
                "velocity": {
                    "x": 4.011760234832764,
                    "y": -0.7278274297714233,
                    "z": -0.03940712660551071
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5107,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.366524696350098,
                "transform": {
                    "location": {
                        "x": 217.55734252929688,
                        "y": 5558.2255859375,
                        "z": 365.59228515625
                    },
                    "rotation": {
                        "roll": 0.0032304609194397926,
                        "pitch": 0.454569548368454,
                        "yaw": -91.91229248046875
                    }
                },
                "velocity": {
                    "x": -0.45139482617378235,
                    "y": -13.358490943908691,
                    "z": 0.10460931807756424
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5106,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.987323760986328,
                "transform": {
                    "location": {
                        "x": 215.66311645507812,
                        "y": 5596.95751953125,
                        "z": 365.2912902832031
                    },
                    "rotation": {
                        "roll": -0.1226806640625,
                        "pitch": -0.3814660310745239,
                        "yaw": 95.66630554199219
                    }
                },
                "velocity": {
                    "x": -0.4638422727584839,
                    "y": 9.976303100585938,
                    "z": -0.06970609724521637
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5099,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0008002815884537995,
                "transform": {
                    "location": {
                        "x": 116.15265655517578,
                        "y": 5577.1455078125,
                        "z": 366.5661926269531
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": 0.9708566665649414,
                        "yaw": 179.8627471923828
                    }
                },
                "velocity": {
                    "x": 4.848107710131444e-05,
                    "y": 1.726209802654921e-06,
                    "z": 0.0007988098659552634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5098,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015583651838824153,
                "transform": {
                    "location": {
                        "x": 105.41632843017578,
                        "y": 5577.17041015625,
                        "z": 366.7367248535156
                    },
                    "rotation": {
                        "roll": 0.0006344495341181755,
                        "pitch": 0.9081692099571228,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 2.437367948004976e-05,
                    "y": 7.76748129283078e-05,
                    "z": 0.0015562373446300626
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5097,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0016028705285862088,
                "transform": {
                    "location": {
                        "x": 115.80773162841797,
                        "y": 5580.39599609375,
                        "z": 366.56097412109375
                    },
                    "rotation": {
                        "roll": 0.0012447102926671505,
                        "pitch": 0.9593682885169983,
                        "yaw": 179.8629913330078
                    }
                },
                "velocity": {
                    "x": 5.463510751724243e-05,
                    "y": -1.1295674084976781e-06,
                    "z": 0.001601938740350306
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5096,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0018932719249278307,
                "transform": {
                    "location": {
                        "x": 105.42414093017578,
                        "y": 5580.42041015625,
                        "z": 366.73675537109375
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": 0.9102046489715576,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 2.7502774173626676e-05,
                    "y": -6.400599522748962e-05,
                    "z": 0.0018919898429885507
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.14320583641529083,
        "expert_target_speed": 10.0,
        "target_point": [
            8.373113841956643,
            -0.07171197005188382
        ],
        "target_point_next": [
            9.372935755002281,
            -0.05268297485403295
        ]
    }
}